RoboCup 2010: Robot Soccer World Cup XIV

Volume 6556 of the series Lecture Notes in Computer Science pp 362-373

Parameter Optimization of a Signal-Based Omni-Directional Biped Locomotion Using Evolutionary Strategies

  • Bariş GökçeAffiliated withDepartment of Computer Engineering, Boğaziçi University
  • , H. Levent AkinAffiliated withDepartment of Computer Engineering, Boğaziçi University

* Final gross prices may vary according to local VAT.

Get Access


The ultimate goal of RoboCup depends heavily on the advances in the development of humanoid robots. Flexible walking is a crucial part of playing soccer and bipedal walking has been a very active research topic in RoboCup. In this paper a signal-based omnidirectional walking algorithm for the Aldebaran Nao humanoid robot is presented. Inspired from the existing methods in the literature, the proposed method models the omni-directional motion as the combination of a set of periodic signals. The parameters controlling the characteristics of the signals are encoded into genes and Evolutionary Strategies is used to learn an optimal set of parameters.