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Optimal stable gait for nonlinear uncertain humanoid robot using central force optimization algorithm

Tran Thien Huan (HCM City University of Technology and Education (HCM-UTE), Ho Chi Minh City, Vietnam)
Ho Pham Huy Anh (Faculty of Electrical and Electronics Engineering (FEEE), HCM City University of Technology, VNU-HCM, Ho Chi Minh City, Vietnam)

Engineering Computations

ISSN: 0264-4401

Article publication date: 18 January 2019

Issue publication date: 7 March 2019



The purpose of this paper is to design a novel optimized biped robot gait generator which plays an important role in helping the robot to move forward stably. Based on a mathematical point of view, the gait design problem is investigated as a constrained optimum problem. Then the task to be solved is closely related to the evolutionary calculation technique.


Based on this fact, this paper proposes a new way to optimize the biped gait design for humanoid robots that allows stable stepping with preset foot-lifting magnitude. The newly proposed central force optimization (CFO) algorithm is used to optimize the biped gait parameters to help a nonlinear uncertain humanoid robot walk robustly and steadily. The efficiency of the proposed method is compared with the genetic algorithm, particle swarm optimization and improved differential evolution algorithm (modified differential evolution).


The simulated and experimental results carried out on the small-sized nonlinear uncertain humanoid robot clearly demonstrate that the novel algorithm offers an efficient and stable gait for humanoid robots with respect to accurate preset foot-lifting magnitude.


This paper proposes a new algorithm based on four key gait parameters that enable dynamic equilibrium in stable walking for nonlinear uncertain humanoid robots of which gait parameters are initiatively optimized with CFO algorithm.



This research is funded by Vietnam National Foundation for Science and Technology Development (NAFOSTED) under grant number 107.01-2018.10.


Huan, T.T. and Anh, H.P.H. (2019), "Optimal stable gait for nonlinear uncertain humanoid robot using central force optimization algorithm", Engineering Computations, Vol. 36 No. 2, pp. 599-621.



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