0462102 20240111140923.520160901235959.9 85009183713 000401244000134 10.1016/j.ifacol.2016.10.264 6 s. C cav_un_epca*04716382405-896310th IFAC Symposium on Nonlinear Control Systems NOLCOS 2016 - Monterey, California, USA, 23-25 August 2016802-807MontereyIFAC2016 Geometric Methods Robotics 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. konferenční příspěvek 693,09 kB cav_un_auth*0292613 GA13-20433S GA ČR The hybrid invariance of the collocated virtual holonomic constraints for general underactuated mechanical systems is studied here. The collocated virtual holonomic constraints involve directly actuated coordinates only and they preserve the kinetic symmetry and the Lagrangian character of the corresponding restricted dynamics. Their hybrid invariance can be combined with the walking design during the swing phase based on the kinetic symmetry to achieve the exponential stable multi-step walking. Results are illustrated by the case study of the planar four link mechanical chain and its walking-like movement. cav_un_auth*0332857 The 10th IFAC Symposium on Nonlinear Control Systems, Monterey, California USA (2016) 23.08.2016-25.8.2016 Monterey, California US BC 2017 2 PR RVO:67985556 http://hdl.handle.net/11104/0261928 S n.a. Proceedings Paper Automation Control Systems 0.298 Q3 Q3 2016 85009183713 SCOPUS 000401244000134 WOS konferenční příspěvek 693,09 kB cav_un_epca*0471638 IFAC-PapersOnLine. Volume 49, Issue 18 10th IFAC Symposium on Nonlinear Control Systems NOLCOS 2016 - Monterey, California, USA, 23-25 August 2016 2405-8963 802 807 Monterey IFAC 2016