This is actually supposed to be the rotation of a knee across a walk cycle. In
your solution, which is very similar to mine, the knee would be bending
backwards (theta>>0) during part of the cycle.  If you look at my solution in
the blue curve that I posted, it is devoid of the above error, but so flat it
is not much  better than straight lines.



Libellule wrote:

> Using the data in the original post
> (Solved externally)
> Data points shown with slightly larger spheres than the rest
>
>   ------------------------------------------------------------------------
>  [Image]

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