A Review of Gait Optimization Based on Evolutionary Computation

Gait generation is very important as it directly a ffects the quality of locomotion of legged robots. As this is an optimization problemwith constraints, it readily lends itself to Evolutionary Computation methods and solutions. This paper reviews the techniques usedin evolution-based gait optimization, including why Evolutionary Computation techniques should be used, how fitness functionsshould be composed, and the selection of genetic operators and control parameters. This paper also addresses further possibleimprovements in the efficiency and quality of evolutionary gait optimization, some problems that have not yet been resolved andthe perspectives for related future research.