GA-based optimization of biped robot gait control of CPG model

摘要

As a result of the traditional artificial gait planning is a relatively rigid and slow, the lack of flexible self-organizing capacity, and the real biological differences between gait. Good use of the biological central pattern generator of the self-excited behavior have a rhythm of movement in order to adapt to a variety of coordination in complex environments, this paper, we propose a biological central pattern generator model for the core of the establishment of biped robot control system, and CPG parameter values of the parameters of genetic algorithm for high-performance distinctions, in accordance with the relationship between human movement, the establishment of the knee, hip and ankle joint movement relation equation. By simulation control mechanism based on the CPG rhythm of the biped robot motion control method is effective, bio-gait biped robot, when the realization possible.