Research Article
Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory
Table 1
Boundary conditions of the bionic trajectory.
| | Parameters | Forward direction X | Lifting direction Y |
| | Time (s) | t 0 = 0 | t 1 = 0.25 | t 2 = 0.75 | t d = 1 | t 0 = 0 | = 0.5 | t d = 1 | | Position (mm) | s 0 = 0 | s 1 = −15 | s 2 = 85 | s d = 70 | h 0 = 0 | = 61.8 | h d = 0 | | Velocity (mm/s) | = 0 | 0 | 0 | = 0 | = 0 | 0 | = 0 | | Acceleration (mm/s2) | a s0 = 0 | a s1 = 1760 | a s2 = −1760 | a sd = 0 | a h0 = 0 | a hw = −1648 | a hd = 0 |
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