Research Article
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 |
|
|