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

Figure 7

Learning results for Submodel 2 of the SSP (the step length is 0.16 m). (a) Fuzzy; (b) LS-SVR; (c) the proposed TF-LSSVR.

(a)

(b)

(c)