Rhythm-based control of biped locomotion robot

Paying attention to the fact that walking motion is a kind of periodic motion governed by a regular rhythm, we proposed a rhythm-based biped locomotion control scheme. Further, we introduced the concept of compliance into the control scheme to realize a stable walking under the uncertainties in the environment. In this paper we propose the generation of an optimal reference trajectory by using genetic algorithms, and discuss the compatibility with our rhythm-based locomotion control