1 Erratum to: Artif Life Robotics DOI 10.1007/s10015-012-0015-7

The publisher would like to make the following corrections.

Equations (14) and (15) should read as follows:

$$ {\varvec{\theta}}_{a[i]} = ({\user2 {A}}_{[i]}^{T} {\mathcal{K}}_{[i]}^{ - 1} {\user2{A}}_{[i]} )^{ - 1} {\user2{A}}_{[i]}^{T} {\user2{\cal{K}}}_{[i]}^{ - 1} (\user2{y}_{[i]} - b_{0[i]} {\user2{u}}_{[i]} ) $$
(14)

where \({\user2{\cal{K}}}_{[i]} = b_{0[i]}^{2} {\user2{K}}_{[i]}.\)

$$ \begin{aligned} J( {{\varvec{\Upomega}} _{{[i]}}^{l} } ) & = \frac{1}{2}\log \left| {\user2{\cal{K}}}_{[i]} \right| + \frac{1}{2}( {{\user2{y}}_{{[i]}} - b_{{0}{{[i]}}} {\user2{u}}_{{[i]}} - {\user2{A}}_{{[i]}} {\varvec{\theta}} _{{a[i]}} } )^{T} \\ & \quad \times {\user2{\cal{K}}}_{{[i]}}^{{ - 1}} ( {{\user2{y}}_{{[i]}} - b_{{0}{{[i]}}} {\user2{u}}_{{[i]}} - {\user2{A}}_{{[i]}} {\varvec{\theta}} _{{a[i]}} } ) + \frac{N}{2}\log (2\pi ) \\ \end{aligned} $$
(15)

In Sect. 5, the equation for “inertia factor” in the second paragraph should read as follows:

\( \begin{aligned}w^{l} & = w_{\max } - (w_{\max } - w_{\min } )l/l_{\max }\\ &\quad(w_{\max } = 0.9,w_{\min } = 0.4) \end{aligned}\)