Research of humanoid soccer robot gait planning based on GA optimized

WU Zeqi， WU Genzhong
（College of Information Engineering， Zhejiang University of Technology， Hangzhou 310023， China）

Abstract： Aiming at  the features of the RoboCup match and the requirement of fast walking for humanoid socer robot，a planning based on GA optimized was presented Firstly， a walking movement cycle of the humanoid soccer robot was analyzed During the walking cycle， the movement of the hip was continuous and the ankle was intermittent So a cubic spline interpolation and a high order polynomial interpolation were used to plan their trajectories respectively Secondly， the objective function was constructed using zero moment point （ZMP） stability margin as a parameter In order to obtain a stable gait with larger ZMP stability margin， the planned trajectory was optimized based on the genetic algorithm （GA） Simulation results show that the humanoid soccer robot can walk more stably with the gait planned by the presented approach
Key words： humanoid soccer robot; gait planning; high order polynomial interpolation; cubic spline interpolation; zero moment point （ZMP）; genetic algorithm optimization