Genetic Algorithm-Based Optimal Walking Trajectory Generation for Biped Walking Robot

유전 알고리즘 기반의 최적 이족 로봇 보행 생성에 관한 연구

This paper is concerned with walking trajectory generation by applying the genetic algorithm. The walking trajectory is generated though three via-points and genetic algorithm is employed to find velocity and acceleration at each via-point. Also genetic algorithm is applied for balancing joint trajectory. Fitness function is used for minimizing the trajectory. As a result, new algorithm generated the smooth trajectory. The proposed algorithm is verified by the experiment of biped walking robot developed in our Control laboratory, and we compared the result with the previous walking algorithm. It showed that the new proposed algorithm generated the better walking trajectory.