Optimal trajectory generation for a biped robot walking a staircase based on genetic algorithms

  title={Optimal trajectory generation for a biped robot walking a staircase based on genetic algorithms},
  author={Kweon Soo Jeon and Ohung Kwon and Jong Hyeon Park},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  pages={2837-2842 vol.3}
In this paper, we propose optimal trajectories of biped robots to move a staircase up and down using genetic algorithms and computed-torque controller to be dynamically stable. Firstly, in order to minimize the total energy efficiency, the real-coded genetic algorithm (RCGA) which of operators are composed of the reproduction, crossover and mutation is used. Constraints are divided into equalities and inequalities: equality constraints consist of position conditions at the start and end of… CONTINUE READING
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