Publications / 2004 Proceedings of the 21st ISARC, Jeju, South Korea

Approach to Multi-Objective Evolutionary Compitation Method for Generating Variable Walking Patterns

J.Y. Lee, M.S. Kim, J.J. Lee
Abstract:

The generation of the optimal walking trajectory is an important question for a biped robot to keep walking stably. This paper is proposed for generating the walking trajectories resulted in best performance of the biped robot using multi-objective evolutionary computation. We formulate a trajectory generation problem as a multi-objective optimal problem. We obtain all Pareto-optimal solutions on the feasible solution region for various walking pattern generation of a biped robot in simulation.

Keywords: Multi objective, evolutionary computation, Pareto optimal, walking pattern, ZMP