Implementation of an Intelligent Controller for Biped Walking Robot using Genetic Algorithm and Learning Control

摘要

This paper proposes a method that minimizes the consumed energy by searching the optimal locations of the mass centers of the biped robot's links using Genetic Algorithm. This paper presents a learning controller for repetitive gait control of the biped robot. The learning control scheme consists of a feedforward learning nile and linear feedback control input for stabilization of learning system. The feasibility of learning control to the biped robotic motion is shown via computer simulation and experimental results with 24 DOF biped walking robot.