Control at stability’s edge minimizes energetic costs: expert stick balancing

Milton, John and Meyer, Ryan and Zhvanetsky, Max and Ridge, Sarah and Insperger, Tamás Antal (2016) Control at stability’s edge minimizes energetic costs: expert stick balancing. JOURNAL OF THE ROYAL SOCIETY INTERFACE. pp. 1-19. ISSN 1742-5689


Download (610kB) | Preview


Stick balancing on the fingertip is a complex voluntary motor task that requires the stabilization of an unstable system. For seated expert stick balancers, the time delay is 0.23 s, the shortest stick that can be balanced for 240 s is 0.32 m and there is a Embedded Image° dead zone for the estimation of the vertical displacement angle in the saggital plane. These observations motivate a switching-type, pendulum–cart model for balance control which uses an internal model to compensate for the time delay by predicting the sensory consequences of the stick's movements. Numerical simulations using the semi-discretization method suggest that the feedback gains are tuned near the edge of stability. For these choices of the feedback gains, the cost function which takes into account the position of the fingertip and the corrective forces is minimized. Thus, expert stick balancers optimize control with a combination of quick manoeuvrability and minimum energy expenditures.

Item Type: Article
Subjects: T Technology / alkalmazott, műszaki tudományok > T2 Technology (General) / műszaki tudományok általában
Depositing User: MTMT SWORD
Date Deposited: 17 Jun 2016 11:43
Last Modified: 17 Jun 2016 11:43

Actions (login required)

Edit Item Edit Item