Toward Intelligent Biped-Humanoids Gaits Generation
  In this chapter we will highlight our experimental studies on natural human walking analysis and introduce a biologically inspired design for simple bipedal locomotion system of humanoid robots. Inspiration comes directly from human walking analysis and human muscles mechanism and control. A hybrid algorithm for walking gaits generation is then proposed as an innovative alternative to classically used kinematics and dynamic equations solving, the gaits include knee, ankle and hip trajectories. The proposed algorithm is an intelligent evolutionary based on particle swarm optimization paradigm. This proposal can be used for small size humanoid robots, with a knee an ankle and a hip and at least six Degrees of Freedom (DOF). 
Nizar Rokbani, Boudour Ammar Cherif and Adel M. Alimi
cs.RO