Table 1.

Fixed model parameters and parameters derived from the optimization procedure.

Fixed model parameters
Body mass kg	CoM height m	Moment of inertia kg m2	Servo gain	Kp Nm/rad	Kd Nm/(rad/s)	Kp passive Nm/rad	Kd passive Nm/(rad/s)
69.0	0.93	72.8	0.85	mgh	0.3 * mgh	0.15 * mgh	0.15 * 0.3 * mgh
Optimization results
Visual condition	Tilt estimate		Gravity estimate		Low pass G	Time delay s	Simulation error
	Threshold°/s	Weight. fact.	Threshold°	Weight. fact.
Eyes closed	0.33	0.75	0.07	0.55	0.13	0.16	3.65
Strobosc. ill.	0.33	0.87	0.02	0.46	0.15	0.16	1.92
Continuous ill.	0.20	0.89	0.03	0.46	0.13	0.15	1.74