Fig. 4.

Comparison of the controller's expected force uncertainty. A) The uncertainty in force production across an example animal's FFS using deterministic and probabilistic controllers. This uncertainty is quantified via the trace of a force's covariance matrix. B) Uncertainty is averaged across each animal's FFS and then averaged across animals for the deterministic (grey) and probabilistic (light blue) controllers. C) The across-animal averages for controllers that maximize (red) and minimize (blue) uncertainty, respectively.