Research on Motion Planning of the Biped Robot based on Genetic Algorithm

This paper describes a method for the biped robot squat down planning, which can achieve the movement of squat down stably and glidingly. Use the three-link inverted pendulum model to make the robot get a stable trajectory. Use a five-order polynomial function to prescribe the initial and final positions and velocities for the robot during squatting down. Use the genetic algorithm to adjust the parameters of polynomials with taking the ZMP(zero moment point) as the optimization objective. Finally, verify the feasibility of the method by simulation.