A Study on the Gait Generation of a Humanoid Robot Using Genetic Algorithm

Jung-Shik Kong; Bo-Hee Lee; Jin-Geol Kim

doi:10.11499/sicep.2004.0_45_2

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_45_2

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

A Study on the Gait Generation of a Humanoid Robot Using Genetic Algorithm

*Jung-Shik Kong, Bo-Hee Lee, Jin-Geol Kim

Author information

Keywords: Humanoid Robot, Genetic Algorithm, Gait Trajectory

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 45

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Abstract

Most of a humanoid robot need smooth and stable walking gait. A humanoid robot is unstable basically, and it spends more energy than other mobile robot, when it moves. To solve these problems, genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions are introduced to find out optimal trajectory that can have a optimal movement.

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