Fig. 3From: Frequency-dependent force direction elucidates neural control of balanceDouble inverted pendulum model with angle (\(q_i\)) and torque (\(\tau _i\)) conventions and parameter values for mass (\(m_i\)), length (\(l_i\)), center of mass (\(l_{ci}\)), and moment of inertia about the center of mass height (\(j_i\)) for each link i. The direction of gravity (g) is also definedBack to article page