Study on trajectory generation of standing movements using genetic approach

This paper proposes a genetic approach to trajectory generation of a stance robot in standing movements. For trajectory generation of the stance robot, three main constraints are considered. One is the stability of the robot. In other words, the robot must not turn over during standing movements. The other two are the joint limits and the torque limits of the robot. The emphasis of the study is placed on using a genetic algorithm to search for energy-optimal trajectories within the three constraints above. Simulation results of various standing movements are satisfactory.