QUALITATIVE ANALYSIS OF CONTROLLED MULTI-PENDULUM

The motion of a multi-pendulum is discussed in the present paper as the model of human body with single suspension.The contiguous bodies of the system perform controlled relative motion. The general dynamical equations of the system are derived using the concepts of path vectors and augmented bodies. In the case of plane motion, the phase plane method can be used to analyse the motion qualitatively. The stability of standing and self-excited swing is discussed as example.