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This paper describes a new approach allowing the generation of a simplifiedBiped gait. This approach combines a classical dynamic modeling with an inversekinematics' solver based on particle swarm optimization, PSO. First, aninverted pendulum, IP, is used to obtain a simplified dynamic model of therobot and to compute the target position of a key point in biped locomotion,the Centre Of Mass, COM. The proposed algorithm, called IK-PSO, InverseKinematics PSO, returns and inverse kinematics solution corresponding to thatCOM respecting the joints constraints. In This paper the inertia weight PSOvariant is used to generate a possible solution according to the stabilitybased fitness function and a set of joints motions constraints. The method isapplied with success to a leg motion generation. Since based on apre-calculated COM, that satisfied the biped stability, the proposal allowedalso to plan a walk with application on a small size biped robot.

IK-PSO, PSO Inverse Kinematics Solver with Application to Biped Gait Generation