Joint angle tracking on STS motion
0.047RMSE (deg)RBF-MFAC + TD3
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| RBF-MFAC + TD3Joint=Ankle2026.06 | 0.047 | 0.079 | 2.981 | 6 | |
| RBF-MFAC + TD3Joint=Knee2026.06 | 0.064 | 0.197 | 5.984 | 13 | |
| RBF-MFAC + TD3Joint=Average2026.06 | 0.078 | 0.278 | — | — | |
| SMCJoint=Knee2026.06 | 0.081 | 0.079 | 11.355 | 20.424 | |
| SMCJoint=Ankle2026.06 | 0.082 | 0.03 | 9.916 | 10.037 | |
| LQRJoint=Knee2026.06 | 0.094 | 0.086 | 34.864 | 59.398 | |
| MFACJoint=Knee2026.06 | 0.096 | 0.144 | 42.92 | 59.237 | |
| LQRJoint=Ankle2026.06 | 0.108 | 0.124 | 18.117 | 27.737 | |
| PIDJoint=Ankle2026.06 | 0.112 | 0.113 | 32.142 | 90.435 | |
| PIDJoint=Knee2026.06 | 0.123 | 0.192 | 15.802 | 191.54 | |
| RBF-MFAC + TD3Joint=Hip2026.06 | 0.124 | 0.557 | 17.591 | 28 | |
| SMCJoint=Average2026.06 | 0.136 | 0.22 | — | — | |
| LQRJoint=Average2026.06 | 0.152 | 0.2 | — | — | |
| MFACJoint=Average2026.06 | 0.171 | 0.264 | — | — | |
| MFACJoint=Hip2026.06 | 0.192 | 0.393 | 125.018 | 171.463 | |
| PIDJoint=Average2026.06 | 0.196 | 0.358 | — | — | |
| MFACJoint=Ankle2026.06 | 0.224 | 0.256 | 14.678 | 20.253 | |
| SMCJoint=Hip2026.06 | 0.244 | 0.551 | 26.206 | 30.955 | |
| LQRJoint=Hip2026.06 | 0.255 | 0.39 | 110.154 | 151.043 | |
| PIDJoint=Hip2026.06 | 0.354 | 0.768 | 92.189 | 145.021 |