Trajectory Generation of Biped Locomotion Robot using Hierarchical Evolutionary Algorithm

Abstract

A biped locomotion robot generally has multi-degree of freedom and multi-actuated mechanism. Its walking motion is difficult to be performed because of many parameters to be design in order to keep the balance. Many researchers are however attracted by a biped locomoation robot because it has some advantages in location capability. The purpose of this research is to generate dynamical motion of the biped locomotion robot through the trial and error process like a human growth. In this paper, we propose a new hierarchical evolutionary algorithm to generate trajectories of all actuators in the biped locomotion robot. The hierarchical evolutionary algorithm consists of two layers, the higher one is the GA layer which minimizes the total energy of all actuators by selecting the intermadiate postures, and the lower one is the EP layer which optimizes intermidiate posture in the walking motion. The dynamical motion obtained through the computer simulation by the proposed algorithm is applied to the real biped locomotion robot successfully.