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The purpose of this research is to generate natural motion in a biped locomotion robot, like a human walking in various environments. In this paper, we report on biped locomotion robots. We apply a hierarchical evolutionary algorithm in order to generate the trajectory of a biped locomotion robot through energy optimization, and attempt to generate a more natural motion by considering the dynamic effect. The hierarchical evolutionary algorithm consists of two layers: one is the GA layer which minimizes the total energy of all the actuators, and the other is the EP layer which optimizes the interpolated configuration of the biped locomotion robot. Then we formulate a trajectory generation problem as an energy minimization problem and we apply the hierarchical evolutionary algorithm. Furthermore, we build a trial biped locomotion robot which has 13 joints and is made of aluminum. Finally, we confirm that the calculated natural motion trajectory can be applied successfully to practical biped locomotion.

Natural Motion Generation of Biped Locomotion Robot using Hierarchical Evolutionary Algorithm in the Various Environments