Designing Bipedal Walking Gaits by Interactive Evolutionary Computation

Abstract

This paper presents an interactive framework for the design of bipedal walking gaits. Evolutionary computation is used in this framework. An individual in the evolutionary algorithm represents a cyclic trajectory of three joint angles. A human evaluator subjectively evaluates the robot behavior. Evaluation results by the human evaluator are incorporated in fitness calculation. New individuals are generated through evolutionary operations using the calculated fitness. We show some experimental results where walking gaits are successfully obtained by the interactive framework.