0460762 20240111140921.520160718235959.9 84992034983 000388376106015 10.1109/ACC.2016.7526616 6 s. C cav_un_epca*0460761978-1-4673-8681-4CFP16ACC-USB6030-6035BostonIEEE2016 Virtual Holonomic Constraints Underactuated Walking Robots Hybrid Nonlinear Systems cav_un_auth*0101074 Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Čelikovský Sergej UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0252057 Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Anderle Milan UTIA-B CZ Ústav teorie informace a automatizace AV ČR, v. v. i. příspěvek na konferenci 330 KB cav_un_auth*0292613 GA13-20433S GA ČR In this paper, the collocated virtual holonomic constraints are introduced in the coordinate free manner and their flat coordinates representation is derived. Flat coordinates are those where the virtual holonomic constraints are given by a subset of coordinates components put to be zero. The flat coordinates representation enables a clear description of both the constraint system and the feedback imposing it. Results are illustrated by swinging up the mechanical four link chain. Possible outlooks for walking design are discussed as well. cav_un_auth*0331565 The American Control Conference (ACC) 2016 06.07.2016-08.07.2016 Boston US BC 2017 2 PR RVO:67985556 http://hdl.handle.net/11104/0260949 S n.a. Proceedings Paper Automation Control Systems 2016 84992034983 SCOPUS 000388376106015 WOS příspěvek na konferenci 330 KB cav_un_epca*0460761 Proceedings of the American Control Conference (ACC), 2016 CFP16ACC-USB 978-1-4673-8681-4 6030 6035 Boston IEEE 2016