Second-order model (Swing)

root-Ypos

lowerback-Yrot

Sequence

Samples

NMSE

NLPD

NMSE

NLPD

Sobol+

S10

0.34

−2.27

1.69

3.00

Sobol+

S20

0.12

−2.43

1.24

3.24

Sobol+

S60

0.12

−2.40

1.4

4.05

Sobol+

S100

0.28

−2.31

1.48

3.38