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

Figure 8

Cartesian and joint trajectories with the associated network activity for salient trials. Each row corresponds to a specific salient trial of the protocol: (a) Trial 1, when the test and the baseline phase starts; (b) Trial 6, when the acquisition phase starts; (c) Trial 25, the last trial of the acquisition phase; (d) Trial 26, the first trial of the extinction phase; (e) Trial 30, the last extinction trial and the last trial of the test. In each row, the first column represents the Cartesian trajectory in the y-z plane, where the blue line is the ideal trajectory (without perturbation, as in Trial 1) and the red line is the actual trajectory performed during that trial. The second column represents the three joint trajectories (joints 1–3 in black, grey, and light grey, respectively) performed during the trial. The third column represents the raster plots of the neural spikes produced by the SNN during that trial (MFs, PCs, DCNs, and IOs in blue, green, black, and magenta, respectively).

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