Table 4.

Average power vs. velocity error as a function of the power weight $c_E$.

$c_E$	Power [W]	Velocity error [m/s] (%)	Base height [m]
0.0	17.7	$0.079\pm 0.054$ (7.9%)	$0.23\pm 0.004$
0.1	16.2	$0.083\pm 0.067$ (8.3%)	$0.23\pm 0.006$
1.0	13.7	$0.092\pm 0.065$ (9.2%)	$0.24\pm 0.009$
2.0	12.0	$0.121\pm 0.064$ (12.1%)	$0.24\pm 0.007$
3.0	11.0	$0.141\pm 0.086$ (14.1%)	$0.24\pm 0.014$
4.0	10.2	$0.145\pm 0.091$ (14.5%)	$0.25\pm 0.004$
10.0	7.7	$0.198\pm 0.164$ (19.8%)	$0.25\pm 0.014$
20.0	5.5	$0.275\pm 0.113$ (27.5%)	$0.23\pm 0.005$
With joint torque, velocity and acceleration penalty
–	15.5	$0.122\pm 0.054$ (12.2%)	$0.27\pm 0.008$