Fig. 2From: Basic study of sensorless path tracking control based on the musculoskeletal potential methodDesired path in the joint angle coordinates, \(\varvec{\theta }=(\theta _1,~\theta _2)\) and potential field that forms like a sliding way; \(\varvec{\theta _s}\) is the start posture, \(\varvec{\theta _d}\) is the final posture, \(\varvec{\theta _e}\) is a waypoint, and \(P(\varvec{\theta })\) is the desired potentialBack to article page