Optimal gait control for a biped locomotion using genetic algorithm

Abstract

This paper is concerned with the generation of a balancing trajectory for improving the walking performance. Balancing motion has been determined by solving the second-order differential equation. However, this method caused some difficulties in linearizing and approximating the equation and had some restrictions on using various balancing trajectories. The proposed method in this paper is based on the GA (genetic algorithm) for minimizing the motions of balancing joints, whose trajectories are generated by the fifth-order polynomial interpolation after planning leg trajectories. Real walking experiments are made on the biped robot IWR-III, which was developed by Intelligent Robot Control Lab., Inha University. The system has eight degrees of freedom: three pitch joints in each leg and two joints (one roll and one prismatic joint) in the balancing mechanism. Experimental result shows the validity and the applicability of the newly proposed algorithm. © Springer-Verlag Berlin Heidelberg 2004.