Multicriteria Optimal Humanoid Robot Motion Generation

摘要

This paper proposed a new method for humanoid robot gait generation based on several objective functions. The proposed method is based on multiobjective evolutionary algorithm. In our work, we considered two competing objective functions: MCE and MTC. Based on simulation and experimental results, we conclude: Multiobjective evolution is efficient because optimal humanoid robot gaits with completely different characteristics can be found in one simulation run. The nondominated solutions in the obtained Pareto-optimal set are well distributed and have satisfactory diversity characteristics. The optimal gaits generated by simulation gave good performance when they were tested in the real hardware of "Bonten-Maru" humanoid robot. The optimal gait reduces the energy consumption and increases the stability during the robot motion. In the future, it will be interesting to investigate if the robot can learn in real time to switch between different gaits based on the environment conditions. In uneven terrains MTC gaits will be more