Article

Automated Evolutionary Gait Tuning for Humanoid Robots Using Inverse Kinematics and Genetic Algorithms

2025-08-07

Abstract excerpt

Humanoid bipedal walking remains a challenging problem due to its inherently unstable, high-dimensional dynamics. This paper presents a hybrid framework that matches a compact screw-theory kinematic model with a multi-objective genetic algorithm (GA) for automated gait tuning. By parameterizing the foot’s half-elliptical swing (horizontal and vertical speeds) and the torso pitch angle, our GA optimizes both sagitt...

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Literature Corpus work: 8b0015ae-4486-57b5-97b7-ba62e3cd6ae2
DOI: 10.20944/preprints202508.0500.v1

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