Automatic Generation of Biped Walk Behavior Using Genetic Algorithms

@inproceedings{Picado2009AutomaticGO,
  title={Automatic Generation of Biped Walk Behavior Using Genetic Algorithms},
  author={Hugo Picado and Marcos Gestal and Nuno Lau and Lu{\'i}s Paulo Reis and Ana Maria Tom{\'e}},
  booktitle={IWANN},
  year={2009}
}
Controlling a biped robot with several degrees of freedom is a challenging task that takes the attention of several researchers in the fields of biology, physics, electronics, computer science and mechanics. For a humanoid robot to perform in complex environments, fast, stable and adaptive behaviors are required. This paper proposes a solution for automatic generation of a walking gait using genetic algorithms (GA). A method based on partial Fourier series was developed for joint trajectory… CONTINUE READING
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