[From Rupert Young (2017.08.13 17.00)]
I refer you to the paper on p170 of this large document,
“Simulation of Human Balance Control Using an Inverted,Pendulum
and offer for your delectation (and despair) the comments in the
"It is probable that there are many concurrent control loops
occurring in the central nervous
"no models of how these controllers might operate within the
nervous system have yet been developed."
The paper is a very familiar read, particularly the "neural
Below is my email to the authors. Regards, Rupert -------- Forwarded Message --------
Simulation of Human Balance Control Using an
Sun, 13 Aug 2017 16:39:30 +0100
I read your paper in Biomimetic and Biohybrid Systems with
great interest, as it directly overlaps with my own area of
research and development.
I have good news with respect to your comment, "no models of
how these controllers might operate within the nervous system
have yet been developed."
Actually there is a very detailed model of the functional
control architecture of the nervous system, which you can see in
the book “Behavior: The Control Of Perception”
It concerns a pretty comprehensive theory of how the nervous
system is organised in terms of the type of controllers you are
trying to model, including for balance. It also discusses neural
operators similar to those in your paper. The balance model has
been outlined in
which I have implemented in a real robot,
I have also implemented the joint angle control concept for
The approach for robotics is outlined in my recent paper “A
General Architecture for Robotics Systems: A Perception-Based
Approach to Artificial Life,” .
In fact there is an active cross-disciplinary field of
research focussed on these matters and the underlying theory.
There is a brief overview on my website at and you can see a lot more at .
I think you will find this approach interesting and it should
simplify your model both conceptually and in terms of
Dr Rupert Young
+44 7795 480387