0493896 20240111141006.620181001235959.9 85058231782 10.1016/j.ifacol.2018.11.571 8 s. C cav_un_epca*04989022405-8963378-385AmserdamElsevier2018 Hamiltonian methods walking robots collocated constraints 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. cav_un_auth*0252057 Anderle Milan Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory CZ Ústav teorie informace a automatizace AV ČR, v. v. i. 964 KB cav_un_auth*0347203 GA17-04682S GA ČR CZ Paper presents the current state of the laboratory model of the planar walking robot built in laboratory in UTIA. Moreover, it presents simulation results of the walkinglike movement of the simpli ed version - the so-called three-link, alternatively also called Acrobot with torso. Method for the walking design is based on the use of the collocated virtual holonomic constraints. Collocated constraints include the directly actuated variables only. Restricted system then conserves cyclic property of the unactuated variable and can be controlled using its three dimensional exact feedback linearization. cav_un_auth*0364546 The 12TH IFAC SYMPOSIUM ON ROBOT CONTROL - SYROCO 2018 20180827 20180830 Budapešť HU BC 20000 20200 20201 2019 2 PR RVO:67985556 http://hdl.handle.net/11104/0287177 S 0.234 Q4 2018 85058231782 SCOPUS PUBMED WOS 964 KB cav_un_epca*0498902 IFAC PapersOnLine. Volume 51, Issue 22. : 12th IFAC Symposium on Robot Control SYROCO 2018 2405-8963 378 385 Amserdam Elsevier 2018