*7.3. Test 3: Neck Rotation*

The final test combines multiple sine and cosine waves in order to create a rotatory motion on the neck, Figure 17. This test simulates normal operation for the neck, where a circular motion is described. Figures 18 and 19 show the outputs.

**Figure 17.** Test 3 input signal.

**Figure 18.** Test 3 results for pitch.

**Figure 19.** Test 3 results for roll.

**Table 4.** Fitness on validation data.


SM scored 90.2614% on pitch and 96.7512% on roll, while NN scored 98.5191% for pitch and 99.1767% for roll. NN captures the dynamics of the neck both in pitch and roll. SM also closely resembles the output for roll, but on pitch, lags behind the real value. RLS also resembles the real output, but with an offset in pitch. The final scores for RLS are 63.1412% in pitch and 83.2230% in roll.

Table 4 shows a summary of all model scores for all previous tests.
