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Human and Machine Stick Balancing

[+] Author Affiliations
Shigeru Tajima, Toru Ohira

Sony Computer Science Laboratories, Inc., Tokyo, Japan

Yukinori Tonosaki

Tokyo Institute of Technology, Yokohama, Kanagawa, Japan

Paper No. DETC2007-34735, pp. 721-727; 7 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


We compared the similarities and differences in stick balancing for the human fingertip and that by a servo-controlled machine. The motion of the stick in both cases exhibited a swinging or hunting behavior, which appears to be related to feedback delay. However, human stick balancing appears also to be affected by psychological factors, such as attention, which are not present in machine control systems. We discuss how machine control systems compare with human stick balancing. We also discuss about the repulsive delayed random walk as a simplified model of the stick balancing.

Copyright © 2007 by ASME
Topics: Machinery



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