2d stickman rag doll tutorials

I am trying to make a stickman rag doll game. I would like the movement part of the stickman to be physics based(not animations). I would like to achieve a similar result to this game in terms of the movement system https://www.youtube.com/watchv=tTTDoQQ0VRc&list=PLYCF9m5Atk1f3mavPlrdsaO9g2ouSQFd_&index=1. The part I am struggling with is the movement part. How does rag doll movement work? So far I have found no tutorials on it, only setting up the stickman. Are there any good tutorials or resources I could follow?

 

I see no one is answering my question. Should I add more details perhaps or is the question is unlcear?