Table 1. Quantitative comparison of walking controllers with human kinematics data in standard score (average number of standard deviations away from the mean).
| ref. speed | controller | hip | knee | ankle | average |
|---|---|---|---|---|---|
|
| |||||
| 1.0 m/s | Coros09 | 1.63 | 2.04 | 1.54 | 1.73 |
| Mordatch10 | 5.80 | 8.10 | 6.36 | 6.75 | |
| Wang10s | 4.17 | 3.71 | 2.40 | 3.42 | |
| swalk | 0.41 | 1.28 | 1.41 | 1.04 | |
|
| |||||
| 1.25 m/s | min_torque | 1.35 | 1.79 | 4.32 | 2.49 |
| min_act | 1.51 | 3.20 | 3.74 | 2.82 | |
| nwalk | 0.43 | 1.79 | 1.34 | 1.19 | |
|
| |||||
| 1.5 m/s | Wang10f | 3.03 | 3.38 | 3.46 | 3.29 |
| fwalk | 0.79 | 2.53 | 1.28 | 1.28 | |
|
| |||||
| 1.75 m/s | Wang10vf | 1.37 | 2.60 | 3.32 | 2.43 |
| vfwalk | 1.31 | 3.19 | 1.69 | 2.06 | |