Biped Locomotion with Arm Swing, Based on Truncated Fourier Series and Bees Algorithm Optimizer

Bipedal locomotion control is an important part of intensive research about humanoid robots in recent years. The objective of this paper is to present a gait controller for locomotion of biped robots. A simple Fourier series is based algorithm that has been used for controlling of robot. To reach smoother walking and increase speed and robustness, the current system controls roll of arms during locomotion. A new population-based search algorithm, called the Bees algorithm (BA), has been used for finding best angular trajectories and optimizing Fourier series formulates. We implement the method on the simulated NAO robot, has been implemented in Robocup 3D soccer simulation environment. Simulation Results show that using from hands during walking can make walking fast and robustness.