Informations of suitable additive via-points, which determine the shapes of trajectories, such as *yelocities and accelerations at thevia-points, are needed for a smooth biped walking. Also, incorrect information can cause an indiferentiability on the trajectory and result in discontinuous walking motion. In this paper; optimal via-points data are found using genetic algorithm which minimizes the sum oj deviation of velocities and accelerations as well as jerk. As a result, We obtained the continuity on the whole trajectory interval, the energy distribution through optimum velocities and accelerations. Smooth and stable walking with the optimized leg trajectory by genetic algorithm is shown by the walking experiments.
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