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IWANN
2009
Springer

Automatic Generation of Biped Walk Behavior Using Genetic Algorithms

10 years 6 months ago
Automatic Generation of Biped Walk Behavior Using Genetic Algorithms
Controlling a biped robot with several degrees of freedom is a challenging task that takes the attention of several researchers in the fields of biology, physics, electronics, computer science and mechanics. For a humanoid robot to perform in complex environments, fast, stable and adaptive behaviors are required. This paper proposes a solution for automatic generation of a walking gait using genetic algorithms (GA). A method based on partial Fourier series was developed for joint trajectory planning. GAs were then used for offline generation of the parameters that define the gait. GAs proved to be a powerful method for automatic generation of humanoid behaviors resulting on a walk forward velocity of 0.51m/s which is a good result considering the results of the three best teams of RoboCup 3D simulation league for the same movement.
Hugo Picado, Marcos Gestal, Nuno Lau, Luís
Added 27 May 2010
Updated 27 May 2010
Type Conference
Year 2009
Where IWANN
Authors Hugo Picado, Marcos Gestal, Nuno Lau, Luís Paulo Reis, Ana Maria Tomé
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