diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index 9c92ba4..33ea928 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -772,7 +772,42 @@ bool CustomRobot::processSportCmd(const std::string& cmd, const nlohmann::json&
         } else if (cmd == "CrossStep") {
             return controller_->CrossStep(message["param"]["flag"]);
         } else if (cmd == "start_traj") {
-            return startTraj();
+            TrajectoryParams params;
+            
+            // 从消息中解析参数（如果有的话）
+            if (message.contains("param")) {
+                const auto& param = message["param"];
+                
+                // 解析轨迹模式
+                if (param.contains("pattern")) {
+                    int pattern_int = param["pattern"];
+                    if (pattern_int >= 0 && pattern_int <= 4) {
+                        params.pattern = static_cast<TrajectoryPattern>(pattern_int);
+                    }
+                }
+                
+                // 解析其他参数
+                if (param.contains("scale")) {
+                    params.scale = param["scale"];
+                }
+                if (param.contains("speed")) {
+                    params.speed = param["speed"];
+                }
+                if (param.contains("frequency")) {
+                    params.frequency = param["frequency"];
+                }
+                if (param.contains("amplitude")) {
+                    params.amplitude = param["amplitude"];
+                }
+                if (param.contains("points_count")) {
+                    params.points_count = param["points_count"];
+                }
+                if (param.contains("time_step")) {
+                    params.time_step = param["time_step"];
+                }
+            }
+            
+            return startTraj(params);
         } else if (cmd == "stop_traj") {
             stopTraj();
             return true;