Using Lagrangian mechanics, how would I go about trying to model the double inverted pendulum that can swing out of plane.
A lot of existing work has been done on the planar double inverted pendulum. However I am trying to model a double that can be able to swing out-of-plane due to an actuation torque created on one end of the double pendulum as it swings.
There already exists a robot that can brachiate along a planar line, like how a monkey would swing from branch to branch. I am trying to introduce out-of-plane motion such that the robot can be able to swing onto a line parallel to its current position.