Abstract
The purpose of this study is to generate the gait of a two-legged robot. Stepping points are determined optimally under the conditions of maximizing walking speed and minimizing energy for walking. The gait generation problem is reduced to a combinatorial optimization problem solved by using genetic algorithm. Orbits of toes and hip between stepping points are generated by means of parametric modeling. In the previous research the transition behavior of the walking speed which changes from acceleration to constant speed and from constant speed to deceleration is generated by using optimization method. In this paper, we report the results of a multi-objective optimization that takes into account the target speed of transition pattern and energy consumption minimization.
