Second-order model (Swing)

root-Ypos

lowerback-Yrot

Sequence

Samples

NMSE

NLPD

NMSE

NLPD

MC+

S10

0.49

−2.13

1.74

3.65

MC+

S20

0.17

−2.33

1.39

4.37

MC+

S60

0.14

−2.39

0.93

2.6

MC+

S100

0.22

−2.34

1.23

3.28