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.....for the humans (walking variable inverted pendulum ) , at : http://vimeo.com/34891251 (http://vimeo.com/34891251)
In my opinion , we can use the same general idea ,but this time , "walking" / rotating around an axis for the purpose of our forum.
It's not the first time , when we must go back to nature...this time , in connection with the pendular "walking" of the celestial bodies (see Sun-Earth-Moon variable leverage model topic ).
         Al_ex

.....so to play a greater sensitiveness of balance/unbalance , as a (human) inverted pendulum , at :


http://www.shutterstock.com/pic-87792391/stock-photo-moode-character-unbalanced-on-a-board.html


  For robotics , an inverted pendulum is the starting image (concept) , so maintain stability.


We can use the same starting point (image) to play unstability , also...and maybe , a continuous one , due to gravity fall and inertia .


   Al_ex

.....for celestial bodies ("walking" around as a satellite...) , at :
  http://www.youtube.com/watch?v=uGBANgbRkws (http://www.youtube.com/watch?v=uGBANgbRkws)
...can be formalized as a principle (variable/oscillatory leverage ) , at :
  http://www.geocities.ws/iacob_alex/Some_Drafts/text028.JPG (http://www.geocities.ws/iacob_alex/Some_Drafts/text028.JPG)
...we can so easy play , as a multitude of variable arm procedures...let's say , one of them , at :
  http://www.geocities.ws/iacob_alex/Some_Drafts/text009.jpg (http://www.geocities.ws/iacob_alex/Some_Drafts/text009.jpg)
   Al_ex