Control
Inverted Pendulum
An inverted pendulum is a pendulum balanced above its pivot, an inherently unstable system that serves as the canonical benchmark for stabilizing control, from cart-pole in RL curricula to classical state-space design. The Linear Inverted Pendulum Model (LIPM) abstracts a walking robot's center of mass dynamics and underlies ZMP-based gait generation and capture-point analysis for bipeds.
Why it matters for physical AI
Reduced-order pendulum models remain the analytical core of humanoid balance and push recovery, complementing learned locomotion policies with interpretable stability criteria for deployment.
Build physical AI
Put these concepts to work on real hardware
Axol is a dual-arm robot built for physical AI — teleoperate it, collect demonstrations, and deploy learned policies out of the box.