0483500 20240111140953.720171219235959.9 85047460333 000426957300033 10.1109/ASCC.2017.8287165 Collocated Virtual Holonomic Constraints in Hamiltonian Formalism and Their Application in the Underactuated Walking 6 s. E cav_un_epca*0483499978-1-5090-1572-6Proceedings of the 11th Asian Control Converence (ASCC) 2017192-197PiscatawayIEEE2017 Hamiltonian approach Collocated virtual holonomic constraints Underactuated walking cav_un_auth*0101074 Čelikovský Sergej UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0252057 Anderle Milan UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory CZ Ústav teorie informace a automatizace AV ČR, v. v. i. 1,92 MB cav_un_auth*0347203 GA17-04682S GA ČR CZ Hamiltonian representation of the so-called collocated virtual holonomic constraints is studied here to provide an alternative algorithm to enforce these constraints by feedback. Its efficiency is demonstrated by the walking design for the planar underactuated mechanical four-link chain. cav_un_auth*0355433 The 11th Asian Control Conference (ASCC) 2017 20171217 20171220 Gold Coast AU BC 10000 10200 10201 2018 2 PR RVO:67985556 http://hdl.handle.net/11104/0278780 S 0355 RIV/67985556:_____/17:00483500!RIV18-AV0-67985556 191975734 Doplnění UT WOS a Scopus RIV/67985556:_____/17:00483500!RIV18-GA0-67985556 191965062 Doplnění UT WOS a Scopus n.a. Proceedings Paper Automation Control Systems|Engineering Electrical Electronic 2017 85047460333 SCOPUS PUBMED 000426957300033 WOS 1,92 MB cav_un_epca*0483499 Proceedings of the 11th Asian Control Converence (ASCC) 2017 978-1-5090-1572-6 192 197 Piscataway IEEE 2017