From gaits to ROBOT, A Hybrid methodology for A biped Walker

This paper presents a methodology allowing simple and effective biped robot prototyping and validation using a multi-agent architecture for gait generation and a self assembled biped walker. The gait generator, GG, is based on PSO, particle swarm optimization, which is an evolutionary algorithm; the Obtained gaits are fitted to a robot in order to evaluate the real performances of the approach. To control the Center of Mass, COM, a fuzzy approach, FGG, is introduced allowing fast and effective stability control.