Fig. 12: Estimated jump distance and gravitational strength in embodied units versus experimental parameters.
The blue ground truth corresponds to ground truth values. Green estimates result from using an image and color thresholding to estimate ΦW. Blue shaded regions illustrate the maximum error achieved via simulated pixel quantization errors varied over 26 trials. Larger jump distances are estimated less accurately. Lowering the camera resolution below 200 pixels increases estimation error quickly. Increasing the oscillation period slightly improves results. Lower actuator gain, which results in less oscillation, decreases the accuracy of the estimated distance. While some variation in the estimate of gravitational bias can be observed, the error is typically on the order of 0.02 %. The effects of varying the actuator time constant and gravitational strength are included for completeness when comparing to Fig. 11.
