Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed

Goswami Dip, Vadakkepat Prahlad, Phung Duc Kien

Research output: Contribution to journalArticleAcademicpeer-review

46 Citations (Scopus)

Abstract

The inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in terms of certain parameters. The biped walking gaits are developed using the parameters. The walking gaits are optimized using genetic algorithm (GA). The optimization is carried out considering relative importance of stability margin and walking speed. The stability margin depends on the position of zero-moment-point (ZMP) while walking speed varies with step-size. The ZMP is computed by an approximation-based method which does not require system dynamics. The optimal walking gaits are experimentally realized on a biped robot.

Original languageEnglish
Pages (from-to)355-365
Number of pages11
JournalRobotica
Volume27
Issue number3
DOIs
Publication statusPublished - 1 May 2009
Externally publishedYes

Keywords

  • Biped robot
  • Genetic algorithm
  • Inverse kinematics
  • Stability margin
  • Walking speed
  • Zero-moment-point

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