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Published in:
2009 | OriginalPaper | Chapter
Genetic Optimization for the Design of Walking Patterns of a Biped Robot
Authors : Selene L. Cardenas-Maciel, Oscar Castillo, Luis T. Aguilar, Antonio Rodríguez-Díaz
Published in: Evolutionary Design of Intelligent Systems in Modeling, Simulation and Control
Publisher: Springer Berlin Heidelberg
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This paper presents an Genetic Algorithm(GA) for the design of walking patterns of a 3-DOF biped robot formulated as a system with impulse effects. The GA optimizes the coefficients of a polynomialwhich represents the desired behavior of the walking which is included into the dynamics of the biped robot to obtain periodic motions while fulfills a minimal energy consumption over a complete walking cycle assumed as single support and instantaneous double support phases. Optimization results are presented showing walking patterns with low energy consumption and periodic motions.