Second-order model (Swing) | root-Ypos | lowerback-Yrot | |||
Sequence | Samples | NMSE | NLPD | NMSE | NLPD |
Lattice rules+ | S10 | 0.45 | −2.17 | 1.92 | 4.74 |
Lattice rules+ | S20 | 2.04 | −0.86 | 2.24 | 5.14 |
Lattice rules+ | S60 | 0.20 | −2.38 | 0.24 | 1.18 |
Lattice rules+ | S100 | 0.28 | −2.3 | 0.14 | 0.81 |