Trajectory Planning of an Intermittent Jumping Quadruped Robot with Variable Redundant and Underactuated Joints

Figure 7

Trajectory tracking of active joints: (a), (c), (e), (g), and (i) are the trajectory tracking of the ankle joint, knee joint, hip joint, shoulder joint, and elbow joint, respectively; (b), (d), (f), (h), and (j) are the tracking errors of the ankle joint, knee joint, hip joint, shoulder joint, and elbow joint, respectively.

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)

(j)