Biped robot control using particle swarm optimization

Abstract

In this paper we propose a method to generate gaits of a biped robot by a particle swarm optimization algorithm. The system generates angular positions for joints with an interpolate end segments positions to evaluate walking stability. The proposed PSO is adapted to generate angular position joints, Human walking stability criteria are used to check and validate the gaits. The experimental procedure includes a robot assembly and online test. Then an upper torso controller is introduced to correct walking stability and limits fall downs.