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

Figure 7

RMSE with the enhanced SNN. (a) Mean and SD of the RMSE computed for 10 tests with Webot simulator with the standard network (in black) and a single test with the enhanced tenfold SNN (in grey). (b) Mean and SD of the RMSE computed for 10 tests with NAO robot with the standard network (in orange) and a single test with the enhanced tenfold SNN (in light orange). (c) Mean and SD of the RMSE computed for three single tests performed with Webot simulator and with the three additional trajectories: square (light grey), oval (grey), and infinite (black).

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