Synthesis of Reference Trajectories for Humanoid Robot Supported by Genetic Algorithm

Abstract

This work presents biologically inspired method of gait generation. It uses the reference to the periodic signals generated by biological Central Pattern Generator (CPG). The coupled oscillators with correction functions are used to produce leg joint trajectories. The human gait is used as the reference pattern. The features of generated gait are compared to the human walk. The example illustrates well the profit offered by the optimization using genetic algorithm. The problem would be impossible to solve using traditional approach.