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