Simultaneous design of optimal gait pattern and controller for a bipedal robot

Nowadays, biped robotics becomes an interesting topic for many control researchers. The biped robot is more adaptable than the other mobile robots in a varied environment and can have more diverse possibilities in planning the motion. However, it falls down easily and its control for stable walking is difficult. Therefore, generation of a desired walking pattern for the biped robot in the presence of some model uncertainties is an important problem. The proposed walking pattern should be also achievable by the designed controller. To achieve this aim and to reach the best control performance, the walking pattern and controller should be designed simultaneously rather than separately. In the present study, an optimal walking pattern is proposed to be tracked by a designed sliding mode controller. In this respect, a genetic algorithm (GA) is utilized to determine the walking pattern parameters and controller coefficients simultaneously. Here, high stability, minimum energy consumption, good mobility properties, and actuator limitations are considered as the important indexes in optimization. Simulation results indicate the efficiency of the proposed scheme in walking the understudy biped robot.