Nexus 3D 2007 Soccer Simulation Team Description

This paper presents an overview of Nexus 3D Soccer Simulation Team. Our main concentration was on developing a new hybrid methodology for an evolutionary gait generator that uses trigonometric truncated Fourier series formulations with coefficients optimized by a Genetic Algorithm. The Fourier series is used to model joint angle trajectories of a simulated humanoid robot with 25 degrees of freedom. The simulation result shows the robustness of the developed walking behaviors even in extremely high and low speeds providing appropriate frequency. In addition, the proposed solution adapts a hybrid approach, thereby avoiding the long learning curves and unstable and slow gaits associated with evolutionary approaches.