  This paper describes a new approach allowing the generation of a simplified
Biped gait. This approach combines a classical dynamic modeling with an inverse
kinematics' solver based on particle swarm optimization, PSO. First, an
inverted pendulum, IP, is used to obtain a simplified dynamic model of the
robot and to compute the target position of a key point in biped locomotion,
the Centre Of Mass, COM. The proposed algorithm, called IK-PSO, Inverse
Kinematics PSO, returns and inverse kinematics solution corresponding to that
COM respecting the joints constraints. In This paper the inertia weight PSO
variant is used to generate a possible solution according to the stability
based fitness function and a set of joints motions constraints. The method is
applied with success to a leg motion generation. Since based on a
pre-calculated COM, that satisfied the biped stability, the proposal allowed
also to plan a walk with application on a small size biped robot.
