On evolving a dynamic bipedal walk using Partial Fourier Series

Faculty / School

Faculty of Computer Sciences (FCS)


Department of Computer Science

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Document Type

Conference Paper

Publication Date


Conference Name

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Conference Location

Guangzhou, China

Conference Dates

11-14 December 2012


84876481003 (Scopus)

First Page



Institute of Electrical and Electronics Engineers (IEEE)

Abstract / Description

The paper presents a Partial Fourier Series (PFS) based bipedal gait in sagittal and transverse planes. The parameters of the Fourier series are optimized through Evolutionary Algorithms (EA). In addition to evolving the two walks (forward and turn) separately, the paper demonstrates how the combination of the two enables a dynamic and adjustable walk. The stability of the walk is ensured through an effective use of the built-in gyroscope sensor. The evolved walk has been tested on the simulated version of the humanoid Nao robot and is being used within the RoboCup Soccer 3D Simulation competition.