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

  • Bariş Gökçe
  • H. Levent Akin
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6556)


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.


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© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Bariş Gökçe
    • 1
  • H. Levent Akin
    • 1
  1. 1.Department of Computer EngineeringBoğaziçi UniversityBebekTurkey

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