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Back in section 8.3 we looked at the behaviour of a pendulum: there was no trace of chaotic behaviour there. But we only have to extend the idea of a pendulum in a simple way to find a chaotic system. Figure 11 shows a double pendulum: two identical rods, hinged together and hung from a pivot at the top.

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Human walking is accomplished with a strategy called the double pendulum. During forward motion, the leg that leaves the ground swings forward from the hip. This sweep is the first pendulum. Then the leg strikes the ground with the heel and rolls through to the toe in a motion described as an inverted pendulum.

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