0435096 20240111140854.220141119235959.9 6 s. C cav_un_epca*04346030719-5567341-346Santiago de ChileACCA2014 Underactuated systems Generalized Acrobot Walking trajectory design 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. textový dokument 360 kB GAP103/12/1794 GA ČR CZ cav_un_auth*0283207 The mechanical chain consisting of 4 links with 3 actuators placed between them is considered in this paper. It will be further referred to as the so-called 4-link. The 4-link can be used to study underactuated walking-like movement resembling walking of a pair of legs with knees and hips without a torso. Underactuated mechanical systems have less actuators than degrees of freedom. When a point of contact with surface is fixed, the above 4-link clearly has 4 degrees of freedom while 3 actuators only. The control of the 4-link model in a way resembling a human walk will be designed here based on the embedding of a simpler two degrees of freedom model with one actuator into the model of 4-link. This simpler model is referred to as the so-called generalized Acrobot. The embedding is performed via imposing two virtual constraints fixing dependence between knees angles and hip angle via suitable selection of a pair of constraining functions. cav_un_auth*0309172 Congreso de la Asociación Chilena de Control Automático ACCA 2014 /XXI./ Santiago de Chile 05.11.2014-07.11.2014 CL 2015 BC 2 PR RVO:67985556 http://hdl.handle.net/11104/0239029 cav_un_auth*0298829 České vysoké učení technické v Praze, Fakulta elektrotechnická CZ S 2014 textový dokument 360 kB cav_un_epca*0434603 Proceedings of the XXIst Congreso ACCA 2014 0719-5567 341 346 Santiago de Chile ACCA 2014