To make stable and fast walking in humanoid robot possible, lots of works has to be done including attitude estimation, dynamic stability controls, path planning and online position tracking. These processes need an exact mechanic modelling of the robot's body structure. In this paper, an evolutionary approach is used to model the human walk for a standard humanoid robot named NAO. This method makes use of inverse kinematics for trajectory generations. Additionally a novel method is proposed for mapping from gait design to genetic algorithm, in order to optimize generated trajectory parameters. The proposed method leads us to forward velocity of 64 cm/s, which is a superior result compared to the other common methods.

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