Intermittent control with ankle, hip, and mixed strategies during quiet standing: A theoretical proposal based on a double inverted pendulum model

► Human upright posture is modeled by a double inverted pendulum. ► Stabilization can hardly be achieved by a continuous delay feedback control. ► We propose an intermittent control model of the double inverted pendulum. ► The model can achieve robust and flexible stability despite a large feedback delay. ► Distinct coordinated motor patterns during postural sway are emerged in the model.