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

Table 1

Physical parameters of the 4-DOF robot arm.

Link number	$i$	1	2	3	4
Length [m]	$l_i$	0.2800	0.2800	0.09500	0.09000
Center of mass [m]	$l_{gi}$	0.1400	0.1400	0.04750	0.04500
Cylinder radius [m]	$r_i$	0.04000	0.03500	N/A	0.009500
Cuboid height [m]	$h_i$	N/A	N/A	0.08500	N/A
Cuboid depth [m]	$d_i$	N/A	N/A	0.03000	N/A
Mass [kg]	$m_i$	1.407	1.078	0.2423	0.02552
Inertia moment [$\text{kg}\hspace{0.17em}{\text{m}}^2$]	$I_{giz}$	$9.758\times 10^{-3}$	$7.370\times 10^{-3}$	$2.004\times 10^{-4}$	$1.780\times 10^{-5}$