Robust humanoid turning-in-place using fourier series and genetic algorithm

Abstract

Turning gait is a basic motion for humanoid robots. In this article a model free approach is presented and our emphasis is how to make robot's “turn-in-place” motion more stable and faster. In this regard we use Genetic algorithm to optimize produced signals by Fourier Series (FS) which controls joint's angels. We show the effectiveness of the proposed method through simulation and experimental results.