Double Pendulum
A multibody dynamical system consisting of two pendulums connected in series. It exhibits strong nonlinearity and a tendency toward chaos, and is commonly used as a benchmark case for dynamical modeling.
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The authors selected three typical systems—a dissipative mass-spring system, a double pendulum, and a rolling disk under nonholonomic constraints—as test cases to evaluate the architecture's performance.
Due to its highly nonlinear and chaotic characteristics, the double pendulum system is far more difficult to control than a single inverted pendulum.
The double pendulum system is extremely sensitive to parameter errors, making it an ideal testbed for evaluating the effectiveness of Sim-to-Real transfer.
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The authors selected three typical systems—a dissipative mass-spring system, a double pendulum, and a rolling disk under nonholonomic constraints—as test cases to evaluate the architecture's performance.
50%UnverifiedDue to its highly nonlinear and chaotic characteristics, the double pendulum system is far more difficult to control than a single inverted pendulum.
50%UnverifiedThe double pendulum system is extremely sensitive to parameter errors, making it an ideal testbed for evaluating the effectiveness of Sim-to-Real transfer.
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