Abstract
In this paper, we study an inverse kinematics problem in which optimum trajectories of walking robot toes are generated under the condition of minimum walking energy. It is important for the walking robot that the motions of legs are determined to achieve the desired body operation. A 4-legged walking robot with rinks and motors at joints of waist and knee is assumed here. Genetic algorithms are used for optimization of several parameters which describe the trajectory function and initial and target points of the toe. Furthermore, we use neural networks to calculate the optimum trajectory for real time generations.
