Notes on Balancing an Inverted Pendulum
نویسنده
چکیده
Balancing an inverted pendulum on a person’s hand (Figure 1) illustrates fundamental limits that constrain what robust efficiency is achievable and can be reasonably thoroughly investigated using office materials and undergraduate mathematics, plus a little ingenuity. There is a large and growing literature on related balancing tasks in sensorimotor control neuroscience [1–6], and we hope our approach will help clarify some of the confusion surrounding the experiments. Surprisingly, the most essential issues can be illustrated experimentally with nothing more than an extendable pointer whose length can be changed, and then balanced on the palm or finger tip using visual feedback.
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