This paper investigates the problem of running gait optimization for humanoid robot. In order to reduce energy consumption and guarantee the dynamic balance including both horizontal and vertical stability, a novel running gait generation based on opposition-based learning particle swarm optimization (PSO) is proposed which aims at high energy efficiency with better stability. In the proposed scheme of running gait generation, a population initiation policy based on domain knowledge is employed
International Journal on Smart Sensing and Intelligent Systems , ISSUE 2, 1162–1179
robot to improve stability. The effectiveness of the method is demonstrated on a humanoid robot, MaNUS-I, to reject disturbances of various form.
International Journal on Smart Sensing and Intelligent Systems , ISSUE 1, 187–207