Table 4 End-effector trajectories
From: Type Design and Behavior Control for Six Legged Robots
Trajectory type | Expression | Terrain/speed/parameters |
|---|---|---|
Triangle | \(Tr{j_{{\text{F\_Tri}}}}{ = }Trj(L,H)\) | Flat terrain, low speed |
Rectangle | \(Tr{j_{{\text{F\_Rec}}}} = Trj(L,H)\) | Difficult terrain, low speed |
Trapezoid | \(Tr{j_{{\text{F\_Tra}}}} = Trj(L,W,H)\) | Flat terrain, middle speed |
Oval | \(Tr{j_{{\text{F\_Ellipse}}}} = Trj(a,b)\) | Flat terrain, high speed |
5th order polynomial | \(Trj(t) = {c_0} + {c_1}t +\cdots + {c_5}{t^5}\) | 2 points of position, velocity, acceleration |
7th order polynomial | \(Trj(t) = {c_0} + {c_1}t +\cdots+ {c_7}{t^7}\) | 2 points of position, velocity, acceleration, jerk |