Sensor-based control of a nine-link biped
International Journal of Robotics Research
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
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This paper presents the smooth walking trajectory for a biped robot using genetic algorithm. Suitable velocities and accelerations at the via-points are required for dynamic smooth walking since the incorrect via-points data can cause the discontinuity on the trajectory and the unstable walking motion as a result. Optimal via-points data can be found by minimizing the sum of deviation of velocities and accelerations as well as jerks. Using genetic algorithm, we obtained the continuity on the entire trajectory interval and the energy distribution during the walking. In conclusion, it is shown that the proposed genetic algorithm guarantees a satisfactory smooth and stable walking thruough the experiment on the real biped robot.