Application of Evolutionary Algorithms for Humanoid Robot Motion Planning

Abstract

In this article, the authors present a new method for humanoid robot motion planning, satisfying multiple objectives. In this method, the multiple objectives humanoid robot motion is formulated as a multiobjective optimization problem, considering each objective as a separate fitness function. Three different objectives are considered: (1) minimum energy consumption; (2) stability; and (3) walking speed. The advantage of the proposed method is that, in a single run of multiobjective evolution, generated humanoid robot motions satisfy each objective separately or multiple objectives simultaneously. Therefore, the humanoid robot can switch between different gaits based on environmental conditions. The results show that humanoid robot gaits generated by multiobjective evolution are similar to that of humans. To further verify the performance of optimal motions, they are transferred to the “Bonten-Maru” humanoid robot.