Jörg Conradt Matthew Cook Raphael Berner Patrick Lichtsteiner Rodney J. Douglas Tobi Delbrück A Pencil Balancing Robot using a Pair of AER Dynamic Vision Sensors. 781-784 2009 ISCAS http://dx.doi.org/10.1109/ISCAS.2009.5117867 conf/iscas/2009 db/conf/iscas/iscas2009.html#ConradtCBLDD09