🦵 Ragdoll Leg Whip Kick: Hip and Knee Torque Timing in a Lagrange Double-Pendulum Leg — 2D Side View

A cartoon dummy swings a two-segment leg (thigh and shank) driven by hip and knee torque pulses; the Lagrange double-pendulum equations show how braking the thigh whips the shank and foot to high speed. A live sweep finds the best knee timing, and the ball speed follows from the foot speed at contact.