Figure 8.

Distance of the estimated leg end position to the position of the target posture in three-dimensional space over time. The mean normalized distance is calculated for all 1260 movements for each iteration step. The distances are normalized with respect to the distance between start and end posture in three-dimensional space (dashed lines show the SD around the mean value). The light gray line indicates a linear interpolation between the start and the target position (Importantly, the interpolation is done in joint space with a constant velocity. As a result, the interpolation of a single movement is better described by a curve (a geodesic), but over all movements we use a straight line as a simplification to indicate the general expected movement characteristics).