Gait Optimization on a Humanoid Robot using Particle Swarm Optimization

Cord Niehaus, Thomas Röfer, Tim Laue

In: Changjiu Zhou , Enrico Pagello , Emanuele Menegatti , Sven Behnke (Hrsg.). Proceedings of the Second Workshop on Humanoid Soccer Robots in conjunction with the 2007 IEEE-RAS International Conference on Humanoid Robots. Workshop on Humanoid Soccer Robots (Humanoids-07) befindet sich 2007 IEEE-RAS International Conference on Humanoid Robots November 29-December 1 Pittsburgh Pennsylvania United States 2007.


This paper describes the application of Particle Swarm Optimization (PSO) for gait optimization on a humanoid robot. The biped gait is modeled by a number of parameterizable trajectories. To achieve omni-directional walking, different sets of gait parameters are optimized for specific walk directions and interpolated later. By using a fitness test based on an acceleration walk, the optimized sets of parameters are suitable for a wide range of walk speeds. We tested the applicability of the approach by performing gait optimization for several walk directions on a modified Kondo KHR-1 robot.

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Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence