Fig. 5From: Basic study of sensorless path tracking control based on the musculoskeletal potential methodDesired potentials \(P_{d1}\) and \(P_{d3}\) (start posture: \(\varvec{\theta _s}=(85,40)^T\), waypoint: \(\varvec{\theta _e}=(115,95)^T\), and final posture: \(\varvec{\theta _d}=(95,135)^T\) [deg], \(\varvec{K_1}=\varvec{K_3}=\text{ diag }(1,1)\), \(P_s = 1\))Back to article page