Evolving a locus based gait for a humanoid robot
نویسندگان
چکیده
This paper describes a process for evolving a stable humanoid walking gait ihai is based around parameierised loci of motion. The parameters of the loci are chosen by an evolutionory process based on the criteria that the robot’s ZMl’ (Zero Moment Point) follows a desirable path. The paper illustrates the evolution of a straight line walking gait. The gait has been tested on a 1.2m iall humanoid robot (&Roo). The results, apart from illustraiing a success.1 walk, illustrate the effectiveness of the ZMP path criierion in not only ensuring a siable walk, but also in achieving eficient use ofthe actuators.
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