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

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