AUTHOR=Cheng Quanbao , Zhou Lin , Li Kai TITLE=A Self-Stabilized Inverted Pendulum Made of Optically Responsive Liquid Crystal Elastomers JOURNAL=Frontiers in Robotics and AI VOLUME=8 YEAR=2022 URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2021.808262 DOI=10.3389/frobt.2021.808262 ISSN=2296-9144 ABSTRACT=
The inverted pendulum system has great potential for various engineering applications, and its stabilization is challenging because of its unstable characteristic. The well-known Kapitza’s pendulum adopts the parametrically excited oscillation to stabilize itself, which generally requires a complex controller. In this paper, self-sustained oscillation is utilized to stabilize an inverted pendulum, which is made of a V-shaped, optically responsive liquid crystal elastomer (LCE) bar under steady illumination. Based on the well-established dynamic LCE model, a theoretical model of the LCE inverted pendulum is formulated, and numerical calculations show that it always develops into the unstable static state or the self-stabilized oscillation state. The mechanism of the self-stabilized oscillation originates from the reversal of the gravity moment of the inverted pendulum accompanied with its own movement. The critical condition for triggering self-stabilized oscillation is fully investigated, and the effects of the system parameters on the stability of the inverted pendulum are explored. The self-stabilized inverted pendulum does not need an additional controller and offers new designs of self-stabilized inverted pendulum systems for potential applications in robotics, military industry, aerospace, and other fields.