Table 1.

Uniform noise for each of the state observations and PD controller gains.

Observation noise
${\theta }_{\text{body}}$	$U^3(-0.05,0.05)$
${\omega }_{\text{body}}$	$U^3(-0.10,0.10)$
$v_{\text{body}}$	$U^3(-0.10,0.10)$
q	$U^{12}(-0.05,0.05)$
$\dot{q}$	$U^{12}(-0.50,0.50)$
Dynamics noise
$K_p$	$U(-1.0,3.0)$
$K_d$	$U(-0.1,0.1)$