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

Figure 5

RMSE in different testing conditions. (a) Mean and SD of the RMSE computed for 10 tests with only the cortical plasticity optimized (in red) and after the optimization of the cortical and nuclear plasticities (in magenta). (b) Mean and SD of the RMSE computed for 10 tests after the optimization of the cortical and nuclear plasticities (in magenta) and after the optimization of the gain (in black). (c) Mean and SD of the RMSE computed for 10 tests after the optimization of the gain with Webot simulator (in black) and with NAO robot (in orange).

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