Key points are not available for this paper at this time.
Esther Thelen, Daniela Corbetta, Kathi Kamm, John P. Spencer, Klaus Schneider, Ronald F. Zernicke, The Transition to Reaching: Mapping Intention and Intrinsic Dynamics, Child Development, Vol. 64, No. 4 (Aug., 1993), pp. 1058-1098
Thelen et al. (Sun,) studied this question.