Optimal design for a humanoid robot based on passive dynamic walkers and genetic algorithms

Abstract

In this paper, we present the method used to design a humanoid robot called Johnny by optimizing the energy consumption of walking. The mechanical model is inspired on passive dynamic walkers. We used a basic genetic algorithm to find, at the same time, the optimal mechanical parameters, as well as the optimal walking trajectories and the optimal gains, for the feedback control used in the current prototype.