Acquisition of Humanoid Walking Motion using Genetic Algorithm - Considering Characteristics of Servo Modules

| This paper presents a method for humanoid walking acquisition with less energy consumption based on a two-stage genetic algorithm. In the rst phase of genetic algorithm, in order to acquire the continuous walking motion, the tness function consists of a walking distance (longer is better). In the second phase, the tness function consists of a walking distance (longer) and energy consumption(less) for acquisition of highly energy-eÆcient walking. Further, we restrain the relationship among some joints and keep knee joint straight on supporting leg in order to ensure the less energy consumption. We apply the method to our platform PINO which has low-torque actuators owing to the servo modules. In order to realize a genetic process, we encode the scaling parameter of the joint movements and the phase di erence between the joints into the computational simulation which considers the characteristics of the servo module used in our platform, PINO. The evolved results are applied to a real PINO and its smooth and stable walking with less energy consumption is veri ed. Keywords| Humanoid walking, Genetic algorithm, Less energy consumption