Gait Parameters Optimization and Real-Time Trajectory Planning for Humanoid Robots

A Review of Gait Optimization Based on Evolutionary Computation

“…A lot of criteria can be used to construct the fitness functions of EC for gait optimization, and at present most studies mainly emphasize only one or a part of the following aspects [ [18,59], while the dynamic stability is often verified via the zeromoment-point (ZMP) [1,14,16,20,39,40,46,47,57,60,67], which has an important role in gait optimization, especially for the biped gait. If the robot has to focus on how to restore balance rather than constantly trying to maintain dynamic balance, the foot placement estimator (FPE) can be adopted [68].…”

“…There are two ways to evolve gait for a robot, namely on-line evolution and off-line evolution. On-line evolution evolves gait directly on a real robot [32,43,47,49,51,70,71], while the off-line method evolves gait on a simulator [18,59,72]. In the case of off-line evolution, solutions are evaluated using the objective functions mentioned above.…”

“…(ii) The energy consumption of the optimal motion was dramatically reduced [44,56,57]. The optimal gait pattern was natural and very similar to that of humans [44,59,73], and battery actuated robots can thus prolong their operation time.…”