17. The computer software product according to claim 16 , further comprising a nineteenth sequence of instructions which, when executed by the processor, causes said processor to perform subtractive clustering of said offline planning dataset during said membership function parameters initialization, the subtractive clustering resulting in a plurality of cluster centers wherein each of the cluster centers is translated into a fuzzy rule for identifying a class.
17. The computer software product according to claim 16 , further comprising a nineteenth sequence of instructions which, when executed by the processor, causes said processor to perform subtractive clustering of said offline planning dataset during said membership function parameters initialization, the subtractive clustering resulting in a plurality of cluster centers wherein each of the cluster centers is translated into a fuzzy rule for identifying a class. 19. The computer software product according to claim 17 , further comprising a twenty-second sequence of instructions which, when executed by the processor, causes said processor to characterize said inertia matrix invertibility condition control law specification by the relation: 
 u=MJ −1 v+Nx 2 +G+[J T −MJ −1 C]f c −MJ −1 Jx 2 . wherein the twenty-second sequence of instructions is executed during said performance of said Tsukamoto neuro-fuzzy inference procedure.