Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory

Table 5

Corresponding trajectory points of uniform time.

Point number	Time (s)	X position (mm)	Y position (mm)
1	0	15	0
2	0.1	11.5056	2.5247
3	0.2	1.9952	14.8716
4	0.3	2.2816	35.0628
5	0.4	20.1888	54.0017
6	0.5	50	61.8000
7	0.6	79.8112	54.0017
8	0.7	97.7184	35.0628
9	0.8	98.0048	14.8716
10	0.9	88.4944	2.5247
11	1	85	0