Evolution of Biped Walking Using Neural Oscillators Controller and Harmony Search Algorithm Optimizer

In this paper, a simple Neural controller has been used to achieve stable walking in a NAO biped robot, with 22 degrees of freedom that implemented in a virtual physics-based simulation environment of Robocup soccer simulation environment. The algorithm uses a Matsuoka base neural oscillator to generate control signal for the biped robot. To find the best angular trajectory and optimize network parameters, a new population-based search algorithm, called the Harmony Search (HS) algorithm, has been used. The algorithm conceptualized a group of musicians together trying to search for better state of harmony. Simulation results demonstrate that the modification of the step period and the walking motion due to the sensory feedback signals improves the stability of the walking motion.