On Lyapunov's stability control of two-link base-excited inverted pendulums with applications to human locomotion
Bibliographic record
Abstract
Control of a chain of two planar inverted pendulums is studied in this paper. The goal is to keep the pendulums at the upright position in spite of the free base point motion. First a piecewise continuous controller is developed which guarantees the global stability of the system in the sense of Lyapunov. This idealized controller, however, is not desirable from the implementation viewpoint. A continuous control law is then proposed. It is found that the continuous controller only guarantees the stability in a suitable sense. The effectiveness of the developed controllers is tested through computer simulations. The above inverted pendulums are then used to simulate human thorax and pelvic movement during walking. The simulation results are compared with those from gait measurements and found that the above pendulums are capable of producing displacements and torques for the human thorax and the pelvis during normal walking.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".