Tool-Body Assimilation Model Based on Body Babbling and Neurodynamical System

Table 1

DOF and link length of the robot.

Link name (Arm)	[mm]	[deg.]	[mm]	[deg.]	[deg.]	[deg.]
RARM_SHOULDER_P	0	90	−171	90	—	—
RARM_SHOULDER_R	0	90	0	90	120	−50
RARM_SHOULDER_Y	0	90	273	90	—	—
RARM_ELEBOW	−9	90	0	0	145	0
RARM_WRIST_Y	0	−90	240	90	—	—
RARM_WRIST_P	0	−90	0	−90	15	−55
RARM_WRIST_R	0	−90	0	0	—	—
(Tool)	Tool size	0	0	0	—	—

Range of motion of the joint angle.