Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory

Table 7

Corresponding trajectory points obtained by PSO.

Point number	Time (s)	X position (mm)	Y position (mm)
1	0	15	0
2	0.1024	11.3051	2.6924
3	0.2048	1.6519	15.7165
4	0.3013	2.4030	35.3404
5	0.4012	20.4961	54.1780
6	0.5027	50.8640	61.7940
7	0.6001	79.8367	53.9869
8	0.6981	97.5399	35.4684
9	0.7933	98.4766	16.0561
10	0.8969	88.7543	2.7425
11	1	85	0