Abstract: Based on the 7-link dynamic model, motion of the swing leg of biped robot is planned into a parabola to keep self-balance in lateral plane and body swings forward and backward to dynamically balance in sagittal plane. Then the gait of the biped is specified by parameters such as walking velocity, step length and height, and the genetic algorithm is applied to obtain the optimal parameters on condition of keeping dynamic stability and the minimum of the value of the dynamic balance. Finally the simulation of walking is presented.

Key words: Biped robot　Parametric gait　Gait optimization　Genetic algorithm