  This paper discusses the stability of an equilibrium point of an ordinary
differential equation (ODE) arising from a feed-forward position control for a
musculoskeletal system. The studied system has a link, a joint and two muscles
with routing points. The motion convergence of the system strongly depends on
the muscular arrangement of the musculoskeletal system. In this paper, a
sufficient condition for asymptotic stability is obtained. Furthermore,
numerical simulations of the penalized ODE and experimental results are
described.
