Data-Based Control for Humanoid Robots Using Support Vector Regression, Fuzzy Logic, and Cubature Kalman Filter

Figure 5

Learning results for Submodel 1 of the SSP (the step length is 0.18 m). (a) Fuzzy; (b) LS-SVR; (c) the proposed TF-LSSVR.

(a)

(b)

(c)