Swirling Pendulum

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., D’Souza, A., Prajwal, G. S., Raj, N., Banavar, R. N., and Palanthandalam-Madapusi, H.J., 2020, October. “The Swirling Pendulum: Conceptualization, Modeling, Equilibria and Control Synthesis”. In Dynamic Systems and Control Conference 2020 Oct 5 (Vol. 84270, p. V001T16A002), ASME.

DSCC2020-3140.Kadam.mp4

Swirling Pendulum hardware evolution through different design iterations...

A MuJoCo implementation of the Swirling Pendulum

SwirlingPendulum_MuJoCo.mp4