Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory

Table 2

Properties of the prototype leg.

Parameter	Description	Value (mm)
a1	Length of a1	50
a2 (2l1)	Length of a2 or 2l1	84
a3	Length of a3	50
a4 (a6)	Length of a4 or a6	34
a5 (l2)	Length of a5 or l2	170
l3	Length of l3	245