Optimal Trajectory Generation for a Humanoid Robot Based on Fuzzy and Genetic Algorithm

This paper is concerned with the generation of gait trajectory for a humanoid robot based on genetic algorithm (GA). A humanoid robot has some problems of the structural instability basically, which leads to consider the complex control of multiple joints caused by nonlinearities. In addition, the walking trajectory of a humanoid robot should be considered to its smoothness and be reduced the torque to save the electric power, because a mobile robot has battery to move autonomously on its body. If movements of walking joint don´t maintain optimally, it is difficult for a robot to have efficient working time. Also, if a gait trajectory doesn´t have optimal state, the expected life span of joints is decreased. To solve these problems, optimal gait trajectory by using artificial intelligence like GA can be introduced. In this paper, a GA is considered for searching the optimal via points as well as optimal control gains. All the processes are investigated and verified through simulations with the parameters of real humanoid system.