Paper Title
Optimal Trajectory Planning of a Humanoid Robot with Torso Modifications

Abstract
In this article, by mathematical simulation of a seven linked biped robot and regarding zero moment point criterion, several effective walking parameters are optimized to maintain the stability of the robot. In addition, torso angle changes with respect to the time to adjust the Zero Moment Position (ZMP) of the robot. Particle Swarm Optimization (PSO) is used to generate optimal parameters of the robot. Trajectory of links are generated in the offline mode. The paper focuses on optimization of fourteen walking parameters using P.S.O. and the significant effect of torso angle in adjusting the ZMP. It can be seen that this method is very effective in generating stable walk. Index Terms- Humanoid robot, Trajectory, ZMP, Walking, Particle Swarm Optimization