Gait Evolving Method of Quadruped Robot Using Zero-Moment Point Trajectory Planning

This paper presents a gait control method using ZMP(zero-moment point) trajectory planning by studying the body sway phenomenon of AIBO robots during walking.Meanwhile,an evolutionary learning method based on genetic algorithm is used to optimize those gait control parameters.In the experiments,the AIBO robots can obtain the optimal gait autonomously,and its maximum speed reaches 455 mm/s with stability.The experimental results show that the robots can obtain the optimal gait with better stability and stronger adaptability to uneven terrain by using the proposed gait control method.