Study on how to make a decision from multiple walking trajectories

This paper presents how to manager walking trajectories obtained by using multiobjective optimization algorithm. In the previous work, we have already obtained the multiple walking trajectories by using the multiobjective evolutionary algorithm. However, there was no guideline to manage and use these walking trajectories according to the given situations. In this paper, in order to make an extension of the previous works, we consider how to make a database using the obtained walking trajectories and then we also deal with how to make a final decision in the database. Finally, simulation results show that the proposed method is valid and the obtained walking trajectories are useful practically. For an experimental verification, we build up the realistic simulator considering the dynamic uncertainty, using the open dynamics engine (ODE).