Biped Robot Walking using a Combination of Truncated Fourier Series and GALA (Genetic Algorithm parameters adaption using Learning Automata)

Abstract

Abstract-Controlling a biped robot with a high degree of freedom to achieve stable, straight and fast movement patterns is one of the most complex problems. With growing computational power of computer hardware, simulation of such robots in high resolution real time environment has become more applicable. This paper introduces a novel approach to Generate Bipedal gait for humanoid locomotion. In this scene, first we have used a modified Truncated Fourier Series (TFS) to generate angular trajectories, then to find the best angular trajectory we built an improved Genetic Algorithm (GA). One of the major difficulties of GAs is choosing appropriate values for mutation and crossover parameters. Hence, we present GALA (Genetic Algorithm parameters adaption using Learning Automata) to adjust these parameters by recruiting Learning Automata. As results show, my approach could generate better values for angular trajectories for biped walking, hence in my approach the robot could walk with high stability and faster than other approaches. Evaluations performed on Simulated NAO robot in RoboCup 3D soccer simulation environment.

A survey of research on several problems in the RoboCup3D simulation environment

“…The final walking speed reaches 0.805m/s. Nezami et al [11] used a learning automata to improve the genetic algorithm and optimize the walking skills by optimizing the parameters in the truncated fourier series.…”

“…In this article, we will summarize the methods for generating robot skill based on dynamic analysis as model-based methods, including simplified models such as inverted pendulums [5][6][7][8], interpolation methods used in trajectory planning [9,10], truncated fourier series [11][12][13][14], etc. This is because these methods all perform dynamic analysis on the robot and use the robot's dynamic stability as an important reference for generating motion.…”

“…In general, equation (11) and equation ( 12) represent the same result, but they are different in cases where the numerator and denominator approach zero in each equation.…”

“…ω represents the step frequency, which is defined as half T s the period T . The joint angle trajectory can be defined through the truncated fourier series, and different gaits can be generated by changing the variables [11][12][13][14].…”