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

Figure 9

A geodesic curve starting from $q^0$ lying on $N_P$ and reaching some point on $N_{P\text{'}}$. Here, $\varphi$ is a homomorphism mapping $F$ in $M$ to $\varphi (F)$ in $R^4$.