0394331 20240111140832.820130819235959.9 6 s. C cav_un_epca*0394329978-1-4673-5767-8IstanbulIEEE2013 walking robots control mechanical systems cav_un_auth*0252057 Anderle Milan Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101074 Čelikovský Sergej Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0292548 Ibarra H. CZ textový dokument 205 kB GAP103/12/1794 GA ČR CZ cav_un_auth*0283207 LG12015 GA MŠk CZ cav_un_auth*0281704 The virtual constraints method is used here to design and control the walking-like trajectory of the 4-link having 4 degrees of freedom: stance angle, 2 knees angles and 1 hip angle and 3 actuators only as the stance leg angle is not actuated. Two different approaches are compared. First, the wellknown approach consists in setting virtual constraints as the dependencies of knees and hip angles on the stance leg angle. Therefore there are 3 virtual constraints enforced by all 3 available inputs and reducing thereby overall 4 degrees of freedom to a single degree of freedom unactuated system. Selecting suitable constraints functions, various walking-like trajectories can be designed. Secondly, this three constraints approach is compared with the alternative one developed very recently. Here, only two constraints are imposed being dependencies of knees angles on the hip angle thereby reducing the 4-link to 2 degrees of freedom system with a single actuator at the hip angle. cav_un_auth*0292549 The 9th Asian Control Conference 2013 (ASCC) Istanbul 23.06.2013-26.06.2013 TR 2014 BC 3 PR RVO:67985556 http://hdl.handle.net/11104/0222936 1 2013 textový dokument 205 kB cav_un_epca*0394329 Proceedings of the 9th Asian Control Conference 2013 (ASCC) 978-1-4673-5767-8 Istanbul IEEE 2013