TABLE 2.

Area under curve (AUC) of the absolute model error time courses of different DOF configurations.

model DOF configuration							front legs				middle legs				hind legs
ThCx			CxTr	TrFe			swing		stance		swing		stance		swing		stance
yaw	pitch	roll	roll	yaw	pitch	roll	abs	rel	abs	rel	abs	rel	abs	rel	abs	rel	abs	rel
+	+	+	-	-	-	-	47,662	1.00	39,152	1.00	12,845	1.00	10,899	1.00	13,761	1.00	13,645	1.00
+	-	-	-	-	-	-	166,357	3.49	110,492	2.82	16,602	1.29	15,134	1.39	25,547	1.86	30,590	2.24
-	+	-	-	-	-	-	105,713	2.22	87,040	2.22	29,892	2.33	24,263	2.23	36,196	2.63	33,323	2.44
-	-	+	-	-	-	-	170,984	3.59	115,093	2.94	27,021	2.10	26,029	2.39	41,122	2.99	49,478	3.63
+	+	-	-	-	-	-	82,128	1.72	64,836	1.66	15,672	1.22	13,551	1.24	17,295	1.26	17,630	1.29
+	-	+	-	-	-	-	160,174	3.36	103,566	2.65	14,967	1.17	13,708	1.26	23,989	1.74	28,815	2.11
-	+	+	-	-	-	-	95,289	2.00	79,632	2.03	15,834	1.23	13,560	1.24	23,728	1.72	24,947	1.83
+	+	+	-	+	-	-	27,291	0.57	25,770	0.66	12,792	0.93	10,793	0.99	11,585	0.84	10,688	0.78
+	+	+	-	-	+	-	43,826	0.92	34,417	0.88	10,994	0.86	9,173	0.84	13,501	0.98	13,297	0.97
+	+	+	-	-	-	+	21,692	0.46	21,592	0.55	12,283	0.96	10,563	0.97	12,300	0.89	10,571	0.77
+	+	+	-	+	-	+	19,833	0.42	20,004	0.51	12,800	1.00	10,837	0.99	12,790	0.93	11,280	0.83
+	+	+	-	-	+	+	21,474	0.45	20,537	0.52	10,537	0.82	8,828	0.81	12,258	0.89	10,434	0.76
+	+	+	-	+	+	-	26,987	0.57	24,624	0.63	11,009	0.86	9,314	0.85	11,856	0.86	10,582	0.78
+	+	+	+	-	-	-	22,412	0.47	22,772	0.58	12,009	0.93	10,240	0.94	12,779	0.93	11,216	0.82

Note that only DOFs, that were different in the leg joint configurations are indicated. Abs is the AUC, of the mean model error time course for swing and stance phases. Rel is the ratio between the AUC, of the tested model and the reference model. Values for the reference model are given in the first row.