The purpose of this research is natural motion of the biped locomotion robot to walk like a human in various environments. In this paper, we report about the natural motion trajectory generation of biped locomotion robot. We apply the genetic algorithm to off-line trajectory generation of biped locomotion robot through energy optimization and aim to generate more natural motion by considering dynamic effect. Further, we formulate trajectory generation problem as a minimizing problem of energy so as to generate natural motion. To apply this calculated trajectory to a practical robot, we build a biped locomotion robot in trial, which has 13 joints and made of aluminum materials. Finally, we conform that the calculated natural motion trajectory can be applied to the practical biped locomotion.
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