Control of a Humanoid NAO Robot by an Adaptive Bioinspired Cerebellar Module in 3D Motion Tasks

Figure 4

Nuclear plasticities optimization. (a, b) Cost functions resulting from the gross and finer explorations of and parameters. Darkest values represent low values of the cost function, therefore the best combinations of the two plasticity parameters. The parameter space further explored in the finer search (b) is identified by the red square (a). (c, d) As (a, b), but for the gross and finer exploration of and .

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