Swing Trajectory Planning on ElSpider 4 Air hexapod robot swing trajectory planning dataset (test)
0.818Mean Time (ms)KCFRC
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| KCFRCPlanners in Config Space=Proposed2026.02 | 0.818 | 12.509 | 0.871 | 2.44 | 8.031 | 1.01 | 140.117 | 6,079.37 | 365.728 | 493 | 99.2 | |
| MINCO-LBFGSPlanners in Config Space=MINCO LBFGS2026.02 | 1.447 | 9.025 | 0.909 | 3.296 | 5.352 | 0.647 | 147.635 | 697.719 | 71.668 | 490 | 98.6 | |
| STOMPPlanners in Config Space=STOMP2026.02 | 1.537 | 30.57 | 3.651 | 1.585 | 4.397 | 0.692 | 408.935 | 5,281.18 | 543.638 | 485 | 97.6 | |
| RRT-ConnectPlanners in Config Space=RRT Connect2026.02 | 1.687 | 7.158 | 0.819 | 3.56 | 209.517 | 11.733 | — | — | — | 445 | 89.5 |