Head motion optimization

In autonomous robotics, the head shaking induced by locomotion is a relevant and still not solved problem. In this article, we propose a movement controller to generate locomotion and head movement. To generate the head movement required to minimize the head motion induced by locomotion itself. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs). We propose a combined approach to generate head movement stabilization on a quadruped robot, using CPGs and an evolutionary algorithms such as Genetic Algorithm, Evolution Strategies and Electromagnetic algorithm. The obtained results demonstrate the feasibility of the approach, by reducing the overall head movement.