Natural motion generation of biped locomotion robot using hierarchical trajectory generation method consisting of GA, EP layers

The purpose of this research is to generate natural motion of the biped locomotion robot like a human walking in various environments. In this paper, we report a method of natural motion generation of a biped locomotion robot. We apply the hierarchical trajectory generation method to generate the trajectory of a biped locomotion robot through energy optimization and aim to generate more natural motion by considering dynamic effect. The hierarchical trajectory generation method consists of two layers, one is the GA layer which minimizes the total energy of all actuators, and the other is the evolutionary programming (EP) layer which optimizes interpolated configuration of a biped locomotion robot. Then we formulate the trajectory generation problem, as a minimizing problem of energy and apply the hierarchical trajectory generation method. Further, we build a biped locomotion robot in trial, which has 13 joints and made of aluminium materials. Finally, we confirm that the calculated natural motion trajectory can be applied successfully to the practical biped locomotion