Biped robot joint trajectory generation using PSO evolutionary algorithm

In last decades, interest in biped robots (specially humanoid robots) have been growing up. Stable Walking is one of the critical challenging problems in these kinds of robots and many researches have been done to achieve a walking model similar to human. Central Pattern Generator (CPG) is one of the biological gait generation models which can produce complex nonlinear oscillation as a pattern for walking. In our model we use polynomial equation for the support leg and Sinusoid Fourier series equation for the swing leg in sagittal plane for producing a single step of walk. For balancing, the same values are used for both swing and support leg with Sinusoid Fourier series equation in frontal plane. PSO is used as an evolutionary algorithm to optimize equation parameters and achieve the best speed and performance in walking.