Evolution of Biped Locomotion Using Bees Algorithm, Based On Truncated Fourier Series

摘要

Abstract — In this paper, a simple Fourier series based algorithm has been used to achieve stable locomotion in an NAO biped robot, with 22 degrees of freedom that implemented in a virtual physics-based simulation environment of Robocup soccer simulation environment. The algorithm uses a Truncated Fourier Series (TFS) to generate control signal for the biped robot. To find the best angular trajectory and optimize TFS parameters, a new population-based search algorithm, called the Bees Algorithm (BA), has been used. The algorithm mimics the food foraging behavior of swarms of honey bees. Simulation results show the power of Bees algorithm for finding the best result.