Quasi optimal gait for a biped robot using genetic algorithm

The context of our research is the study of legged robots. In order to realize autonomous legged robots, the energy consumption during a step should be minimized. The method proposed is based on the expansion in Fourier's series of the joint trajectories. Thus, the search of optimal trajectories is converted into a nonlinear programming problem. The convergence cannot be guaranteed if a constraint (the poor) is introduce, since the cost function becomes highly nonlinear and multi-modal. The incorporation of this constraint ill terms of a simplified model of the poor and the contact force improve significantly the algorithm's convergence.