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Radaelli, G. (author), Buskermolen, R. (author), Barents, R (author), Herder, J.L. (author)This paper presents a method for the design of a statically balanced inverted pendulum. The non-linear moment-rotation characteristic of the pendulum's weight is approximated by a piecewise linear characteristic. Each transition is realized by engaging or disengaging one or more torsion bars, by means of mechanical stops. The whole set of...journal article 2017