Table A4.

Randomization Parameters.

Variable	Distribution
Link Mass	$\Delta m\sim U (0.85m,1.15m)$
Link CoM Position	$\Delta x\sim U (0.9x,1.1x)$
Link Inertia	$\Delta I\sim U (0.8I,1.2I)$
Sensor	$\Delta x\sim U (0.95x,1.05x)$
External Force along X Axis	$f_x\sim U (-10\mathtt{N},+10\mathtt{N})$
External Force along Y Axis	$f_y\sim U (-10\mathtt{N},+10\mathtt{N})$

Random external force is activated for 0.5 s in every 2.5 s.