Abstract
The purpose of this study is the planning of walking for 2 legs robot in the operating field with obstacles. It is expected that 2 legged robot can avoid obstacle more smoothly in the same way that human adjust stride naturally to step over obstacle. In this study stepping sequence is automatically determined under the condition of minimizing energy and differences between the reference ZMP and the analyzed ZMP for walking. The generation problem of stepping points is reduced to a combinatorial optimization problem solved by using genetic algorithm. Trajectoriy parameters of toes and the hip between each point are optimized by using conjugate gradient method.
