 Then the trajectory is refined by  timed elastic band (TEB) method based on the omnidirectional model of quadruped robot .
<fluency>  Then the trajectory is refined by  timed elastic band (TEB) method based on the omnidirectional model of quadruped robot .
 Then the trajectory is refined by the timed elastic band (TEB) method based on the omnidirectional model of quadruped robot .