Innovization procedure applied to a multi-objective optimization of a biped robot locomotion

This paper proposes an Innovization procedure approach for a bio-inspired biped gait locomotion controller. We combine a multi-objective evolutionary algorithm and a bio-inspired Central Patterns Generator locomotion controller to generates the necessary limb movements to perform the walking gait of a biped robot. The search for the best set of CPG parameters is optimized by considering multiple objectives along a staged evolution. An innovation analysis is issued to verify relationships between the parameters and the objectives and between objectives themselves in order to find relevant motor behaviors characteristics. The simulation results show the effectiveness of the proposed approach.