Related papers: An inverted pendulum with a springy control as a m…
Developing a general-purpose wearable real-time fall-detection system is still a challenging task, especially for healthy and strong subjects, such as industrial workers that work in harsh environments. In this work, we present a hybrid…
Models of a playground swing have been studied since the 1960s. However, in most of them, the position of the swinger is controlled directly. This simplifies the problem but hides the mechanics of torques applied to keep the swing moving in…
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…
Control of a hybrid dynamical system can manifest in one of two main ways: either through the continuous or the discrete dynamics. An example of controls influencing the continuous dynamics is legged locomotion, where the joints are…
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion…
In this paper we study the global dynamics of the inverted spherical pendulum with a vertically vibrating suspension point in the presence of an external horizontal periodic force field. We do not assume that this force field is weak or…
Time delays due to signal latency, computational complexity, and sensor-denied environments, pose a critical challenge in both engineered and biological control systems. In this work, we investigate biologically inspired strategies to…
The static equilibrium deformation of a heavy spring due to its own weight is calculated for two cases. First for a spring hanging in a constant gravitational field, then for a spring which is at rest in a rotating system where it is…
We explore analytically the quantum dynamics of a point mass pendulum using the Heisenberg equation of motion. Choosing as variables the mean position of the pendulum, a suitably defined generalised variance and a generalised skewness, we…
Springs can be found in many applications and biological systems, and when these are soft, they easily deform. At small scales, capillarity can induce a force leading to spring deformations when the elastocapillary number is small. We…
This paper discusses the oscillations of a spring (slinky) under its own weight. A discrete model, describing the slinky by $N$ springs and $N$ masses, is introduced and compared to a continuous treatment. One interesting result is that the…
We prove that the Ziegler pendulum -- a double pendulum with a follower force -- can be integrable, provided that the stiffness of the elastic spring located at the pivot point of the pendulum is zero and there is no friction in the system.…
The humble pendulum is often invoked as the archetype of a simple, gravity driven, oscillator. Under ideal circumstances, the oscillation frequency of the pendulum is independent of its mass and swing amplitude. However, in most real-world…
A 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force. Symmetry assumptions are shown to lead to the planar 1D pendulum and to the…
Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN…
The onset and development of instabilities is one of the central problems in fluid mechanics. Here we develop a connection between instabilities of free fluid interfaces and inverted pendula. When acted upon solely by the gravitational…
An experimental study of bifurcations associated with stability of stationary points (SP's) in a parametrically forced magnetic pendulum and a comparison of its results with numerical results are presented. The critical values for which the…
The Slinky is a well-known example of a highly flexible helical spring, exhibiting large, geometrically nonlinear deformations from minimal applied forces. By considering it as a system of coils that act to resist axial, shearing, and…