Second-order model (Swing)

root-Ypos

lowerback-Yrot

Sequence

Samples

NMSE

NLPD

NMSE

NLPD

Digital nets+

S10

0.49

-2.13

4.04

6.88

Digital nets+

S20

0.13

-2.41

2.33

4.87

Digital nets+

S60

0.13

-2.42

0.85

2.75

Digital nets+

S100

0.17

-2.40

0.39

1.48