The purpose of this research is to study the natural motion of a biped locomotion robot walking like a human in various environments. In this paper, we report about the natural motion trajectory generation of biped locomotion robot. We apply the genetic algorithm to off-line trajectory generation of biped locomotion robot through energy optimization and aim to generate more natural motion by considering the dynamic effect. Furthermore, we formulate the trajectory generation problem as a minimizing problem of energy so as to generate natural motion. To apply this calculated trajectory to a practical robot, we build a biped locomotion robot in trial, which has 13 joints and made of aluminum materials. Finally, we confirm that the calculated natural motion trajectory can be applied to practical biped locomotion.
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