Finally, we use the generic algorithm to estimate the best trajectory of each joint from position of the COP of the biped robot.And, a mini biped robot is implemented for handwork practice.

• 最后规划出机器人步行时重心移动的轨迹，利用遗传演算法搜寻出稳定行走时各关节马达的实际角度，使人行机器人能够稳定行走。