Biped Robot Walking using Central Pattern Generator and Genetic Algorithm

C. Liu, Q. Chen (PR China), and D. Wang (PR China, Singapore)

Keywords

Central pattern generator (CPG), Locomotion control, Multi-object genetic algorithm (MOGA), Biped robot

Abstract

Central pattern generator (CPG) plays an important role in rhythmic activities of animals and this mechanism is an important inspiration source for the motion control of legged robots. In this paper, by using CPGs and function mapping mechanism, a high-efficiency distributed CPG control network is constructed to realize the locomotion control of biped NAO robot. To realize stable and coordinated locomotion, the parameters of the CPG network are evolved by multi-object genetic algorithm (MOGA). Simulations with Webots validate the feasibility and efficiency of the presented CPG-based control method.

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