Optimal trajectory generation for a biped walking robot based on genetic algorithm

This paper is concerned with the generation of gait trajectory for a biped walking robot based on genetic algorithm (GA) The control difficulty of biped robotics comes from the robot's intrinsic structural instability, which leads the complexity of control for multiple joints and nonlinearities. The walking trajectory of a biped walking robot should be smooth and effective. Obviously, it is difficult for a robot to work efficiently if movements of walking joint do not maintain optimally. And also, if a gait trajectory doesn't have optimal state, the anticipated life span of joints would decrease. To solve these problems, we introduced GA to optimal gait trajectory. In this paper, GA is considered for searching the optimal joint's data. Dynamic simulation techniques are used to investigate the processes of a 10-DOF biped robot.