Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory

Table 3

Corresponding trajectory points of uniform X.

Point number	Time (s)	X position (mm)	Y position (mm)
1	0	15	0
2	0.1999	2	14.8542
3	0.3596	11	47.1906
4	0.4144	24	56.0035
5	0.4589	37	60.4216
6	0.5000	50	61.8000
7	0.5411	63	60.4216
8	0.5856	76	56.0035
9	0.6404	89	47.1906
10	0.8001	98	14.8542
11	1	85	0