International Journal of Robotics Research
Biologically inspired approaches to robotics: what can we learn from insects?
Communications of the ACM
Biped Locomotion
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Fast Biped Walking with a Sensor-driven Neuronal Controller and Real-time Online Learning
International Journal of Robotics Research
Modular Reactive Neurocontrol for Biologically Inspired Walking Machines
International Journal of Robotics Research
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts
International Journal of Robotics Research
Humanoid walking gait optimization using GA-Based neural network
ICNC'05 Proceedings of the First international conference on Advances in Natural Computation - Volume Part II
Soccer playing humanoid robots: Processing architecture, gait generation and vision system
Robotics and Autonomous Systems
A review of gait optimization based on evolutionary computation
Applied Computational Intelligence and Soft Computing - Special issue on theory and applications of evolutionary computation
Generation of walking periodic motions for a biped robot via genetic algorithms
Applied Soft Computing
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The inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in terms of certain parameters. The biped walking gaits are developed using the parameters. The walking gaits are optimized using genetic algorithm (GA). The optimization is carried out considering relative importance of stability margin and walking speed. The stability margin depends on the position of zero-moment-point (ZMP) while walking speed varies with step-size. The ZMP is computed by an approximation-based method which does not require system dynamics. The optimal walking gaits are experimentally realized on a biped robot.