Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory

Table 8

Corresponding trajectory points obtained by GA.

Point number	Time (s)	X position (mm)	Y position (mm)
1	0	15	0
2	0.1055	11.0393	2.9184
3	0.2031	1.7704	15.4151
4	0.3005	2.3279	35.1696
5	0.3996	20.0868	53.9425
6	0.5006	50.1920	61.7997
7	0.5999	79.7857	54.0164
8	0.6979	97.5207	35.5111
9	0.7922	98.5489	16.2541
10	0.8922	89.1626	3.0930
11	1	85	0