Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory

Figure 18

Movement process of foot-end of prototype. (a) Start. (b) 1/7 period. (c) 2/7 period. (d) 3/7 period. (e) 4/7 period. (f) 5/7 period. (g) 6/7 period. (h) 1 period.

(a)

(b)

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(d)

(e)

(f)

(g)

(h)