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

Table 1

Parameters of the humanoid robot.

Link	Length (m)	Mass (kg)	Inertia moment (kg⋅m^2)
Trunk	0.175	1.060	0.01623
Thigh	0.130
Shank	0.130
Foot	0.020