Optimization of a humanoid robot gait: multilocal optimization approach

The humanoid robot gait planning presents a large number of unknown parameters that should be found to make the humanoid robot to walk. There are several approaches to achieve the gait but an accurate simulation can be used to compute it. A stable joint model of a humanoid robot is used in simulation to optimize the gait parameters. The optimization is based on the stretched simulated annealing with the multilocal algorithm approach. Final results prove the benefits of the presented optimization algorithm.This work is financed by the ERDF - European Regional Development Fund through the COMPETE Programme (operational programme for competitiveness) and by National Funds through the FCT -Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) within projects FCOMP-01-0124-FEDER-022701 and FCOMP-01-0124-FEDER-022674