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

Figure 6

Transfer learning performances. (a, d, g) Ideal (blue) and perturbed (yellow) Cartesian trajectories in three cases: square, oval, and infinite, respectively. (b, e, h) Mean and SD of the RMSE computed for 10 tests with Webot simulator for the respective trajectories. (c, f, i) Mean and SD of the RMSE computed for 10 tests with NAO robot for the respective trajectories.

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