Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain

Table 1

Key points in the foot trajectory.

	1	2	3	4	5	6	7
	0.100	0.100	0.100	0.135	0.170	0.170	0.170
	-0.270	-0.235	-0.200	-0.200	-0.200	-0.235	-0.270