The inverted pendulum model of bipedal standing cannot be stabilized through direct feedback of force and contractile element length and velocity at realistic series elastic element stiffness.

Arthur J. van Soest Leonard A. Rozendaal The inverted pendulum model of bipedal standing cannot be stabilized through direct feedback of force and contractile element length and velocity at realistic series elastic element stiffness. 29-41 2008 99 Biological Cybernetics 1 http://dx.doi.org/10.1007/s00422-008-0240-2 db/journals/bc/bc99.html#SoestR08