This paper deals with multi-objective optimization in gait planning of a 7-dof biped robot during its double support phase, while ascending and descending some staircases. For determining dynamic balance margin of the robot in terms of zero-moment point, its double support phase has been assumed to be consisting of two single support phases on non-coincidental parallel surfaces. Thus, dynamic balance margin of the biped robot during its double support phase is obtained by using a virtual zero-moment point of the system. Moreover, a smooth transition from single to double support phases in a cycle is to be maintained for the walking robots. Two contrasting objectives, namely power consumption and dynamic balance margin have been considered during optimization. Pareto-optimal fronts of solutions are obtained using genetic algorithm and particle swarm optimization algorithm, separately. To the best of the authors' knowledge, it is the first attempt to solve multi-objective optimization problem in double support phase of a biped robot.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.