Second-order model (Walk)

lowerback-Yrot

Iradius—Xrot

Sequence

Samples

NMSE

NLPD

NMSE

NLPD

Lattice rules+

S10

0.25

3.66

0.94

18.61

Lattice rules+

S30

0.03

0.67

1.13

15.29

Lattice rules+

S60

0.50

9.02

0.69

29.19

Lattice rules+

S100

0.37

4.00

0.45

10.56