Iterative Learning without Reinforcement or Reward for Multijoint Movements: A Revisit of Bernstein's DOF Problem on Dexterity

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="217867.fig.005a" src="https://static.hindawi.com/articles/jr/volume-2010/217867/figures/217867.fig.005a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>1st trial</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="217867.fig.005b" src="https://static.hindawi.com/articles/jr/volume-2010/217867/figures/217867.fig.005b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>3rd trial</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="217867.fig.005c" src="https://static.hindawi.com/articles/jr/volume-2010/217867/figures/217867.fig.005c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>5th trial</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="217867.fig.005d" src="https://static.hindawi.com/articles/jr/volume-2010/217867/figures/217867.fig.005d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>10th trial</td></tr></table></td></tr></table>

<table>Endpoint trajectories and the initial and final postures of the arm.</table>

Journal of Robotics

fig5

Figure 5

Figure 5: Iterative Learning without Reinforcement or Reward for Multijoint Movements: A Revisit of Bernstein's DOF Problem on Dexterity 