**7. Conclusions**

Trajectory generation matter for biped walking is always one of the most challenges. Thus, researches on this field is very attractive and is implemented ceaselessly until now. In the same direction, our chapter one again relates to an 3D gait generation method for the biped robot. This approach constructs an optimization problem with constraint to create gait data of the robot. In addition, the modified differential evolution algorithm is introduced to solve an optimization problem. In the next stage, this chapter confirms that the arm swing mechanism enhances the biped walking performance by improving walking distance and reducing rotation angle when the robot moves on the flat ground. The effectiveness of this method is validated by dynamic simulation in Adams environment (MSC software).

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