Optimal trajectory generation for a prismatic joint biped robot using genetic algorithms
In this paper, a prismatic joint biped robot trajectory planning method is proposed. The minimum consumed energy is used as a criterion for trajectory generation, by using a real number genetic algorithm as an optimization tool. The minimum torque change cost function and constant vertical position trajectories are used in order to compare the results and verify the effectiveness of this method. The minimum consumed energy walking is stable and the impact of the foot with the ground is very small. Experimental investigations of a prismatic joint biped robot confirmed the predictions concerning the consumed energy and stability.
biped robots genetic algorithm minimum energy zmp