0429575 20240111140848.520140908235959.9 2 s. P cav_un_epca*04295746-7YakutskNorth-Eastern Federal University named after H.K. Ammosov, Sobolev Institute of Mathematics SB RAS, Lavrentiev Institute of Hydrodinamics SB RAS Novosibirsk State University2014 Kinetic symmetry virtual constraint underactuated walking 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. 814 kB Underactuated mechanical sysxtems are those having less actuators than degrees of freedom. Therefore, their control requires intrinsically nonlinear techniques. Among them, various kinds of exact feedback linearization and nonlinear decompositions are useful. cav_un_auth*0304636 International Conference on Mathematical Modeling /7./ Yakutsk 30.06.2014-04.07.2014 RU 2015 BC 1 ZP RVO:67985556 http://hdl.handle.net/11104/0235879 S 2014 814 kB cav_un_epca*0429574 Abstracts of the 7th International Conference on Mathematical Modeling 6 7 Yakutsk North-Eastern Federal University named after H.K. Ammosov, Sobolev Institute of Mathematics SB RAS, Lavrentiev Institute of Hydrodinamics SB RAS Novosibirsk State University 2014