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Swirling pendulum is a (not so) simple mechanism having two links, of which, one performs a swinging motion like a simple pendulum, while the other link swirls around this swinging link at its endpoint making a 90 degree angle. This system presents several interesting phenomena useful for discussion in a typical (nonlinear) control and dynamics course.
Our virtual presentation at the ASME DSCC, 2020 about the swirling pendulum paper...
Kadam, S.D., Shah, U., DâSouza, A., Prajwal, G. S., Raj, N., Banavar, R. N., and Palanthandalam-Madapusi, H.J., 2020, October. âThe Swirling Pendulum: Conceptualization, Modeling, Equilibria and Control Synthesisâ. In Dynamic Systems and Control Conference 2020 Oct 5 (Vol. 84270, p. V001T16A002), ASME.
DSCC2020-3140.Kadam.mp4Swirling Pendulum hardware evolution through different design iterations...
A MuJoCo implementation of the Swirling Pendulum
SwirlingPendulum_MuJoCo.mp4Page updated
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