Architectural Proposal for a Robotized Intelligent humanoid, IZiman

In nature, bipedal locomotion systems show high abilities at avoiding obstacles and tracking complex trajectories. Humanoids robotics proposes a panel of solutions to carry on locomotion intelligent control. In this paper, we present a hybrid intelligent architecture for a humanoid robot control, 'IZiman". A particle swarm based control is proposed to generate the joints trajectories for a human like walking strategy.