Abstract
Friction and restitution are varying on the road surface, and both coefficients may depend on the location on the road. Humanoid robots that do not have sensing devices can not walk steadily and will slip. However, it is worth pointing out, that some robots walk on different kinds of floors with changing coefficients even if they have no feedback. In this paper, we try to optimize the gait for a humanoid robot by using SA, and then re-optimize it based on random coefficients by using the method of robust optimization. In addition, the control system is very easy, and the simulation model is a small and simple robot that is available in stores that sells robots at a low cost.
