Optimization of Gait Trajectory of Bipedal Walking on Inclined Plane With Pitch and Roll Using Genetic Algorithm

This paper adopts Genetic Algorithm Optimized Fourier Series Formulation (GAOFSF) [1] to achieve stable walking on inclined plane with pitch and roll angle. The first section presents the physical configuration of bipedal robot. Also, kinematic model and inverse dynamic model are derived by Denavit-Hartenberg notation and iterative Newton-Euler dynamic algorithm respectively. Both of them consider the period of single support phase (SSP) only. Then, the formulae of the proposed trajectories which are represented by Truncated Fourier Series (TFS) are given. Moreover, the control objectives of genetic algorithm (GA) which are ZMP trajectories, strike velocity, desired step length and desired average trunk velocity are shown in the third section. Besides, the objective functions and constraints are clearly stated. In the final section, the performance of the proposed trajectories is analyzed based on the preset requirements. The optimized trajectory is found to be satisfactory since it can fulfill all the preset requirements.