Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory

Table 9

Performance index values of multiple distribution types.

Distribution mode of trajectory points	IAE	ISDE
Uniform X	1.3860	1.6320
Uniform arc	0.6194	0.6010
Uniform time	0.2560	0.0214
Chebyshev nodes	0.7830	0.3606
PSO	0.2514	0.0186
GA	0.2505	0.0176