Implementation of an Intelligent Controller for Biped Walking Robot using Genetic Algorithm

摘要

This paper proposes a method that minimizes the consumed energy by searching the optimal locations of the mass centers of the biped robot's links using genetic algorithm. This paper presents a learning controller for repetitive gait control of the biped walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to the biped robot's motion is shown via computer simulation and experimental results with 24 DOF biped walking robot