Abstract
The purpose of this study is to generate the walking gait for 2 legs robot in the operating field with obstacle. It is expected that 2 legs robot can avoid obstacle more smoothly in the same way that animal and human adjust stride normally to step over obstacle. Stepping points are determined optimally under the condition of maximizing walking speeds or minimizing energy for walking. The problem of gait generation is reduced to a combinatorial optimization problem solved by using genetic algorithm. Orbits of toes and hip between stepping points are generated by using conjugate gradient method. The stable walking condition is obtained by adding the control of the upper part of the body.
