Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory

Table 6

Corresponding trajectory points of Chebyshev nodes.

Point number	Time (s)	X position (mm)	Y position (mm)
1	0	15	0
2	0.0245	14.9209	0.0455
3	0.0955	11.8685	2.2273
4	0.2061	1.5635	15.9486
5	0.3455	8.3703	44.4837
6	0.5	50	61.8000
7	0.6545	91.6297	44.4837
8	0.7939	98.4365	15.9486
9	0.9045	88.1315	2.2273
10	0.9755	85.0791	0.0455
11	1	85	0