Walking Optimization Algorithm for Humanoid Robots Using Genetic Algorithm

摘要

This paper proposes an algorithm to optimize the walking of humanoid robots based on the inverse kinematic model combined with a Genetic Algorithm. The objectives are to improve the sagittal displacement of the robot and reduce possible lateral deviations during a predetermined path. The foot of the humanoid performs a tapered motion, an approximate ellipse. Horizontal and vertical speeds and the angulation of the humanoid trunk are the input parameters of the algorithm. The algorithm utilizes the input information to calculate the inverse kinematics, and then it submits the obtained result to an evaluation function. We develop a virtual simulator and a robotic platform with 14 degrees of freedom to validate the proposed algorithm. We then test a prototype using the best result obtained in the simulations.