Iterative Learning without Reinforcement or Reward for Multijoint Movements: A Revisit of Bernstein's DOF Problem on Dexterity
A robot designed to mimic a human becomes kinematically redundant and its total degrees of freedom becomes larger than the number of physical variables required for describing a given task. Kinematic redundancy may contribute to enhancement of dexterity and versatility but it incurs a problem of ill...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2010-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2010/217867 |