. "[09350319D1FF]" . . . . "Santiago de Chile" . "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."@en . "Santiago de Chile" . . . . "9509" . "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." . . . . . "Cyclic walking-like trajectory design and tracking in mechanical chain with impacts"@en . "0719-5567" . "6"^^ . "Cyclic walking-like trajectory design and tracking in mechanical chain with impacts"@en . "Cyclic walking-like trajectory design and tracking in mechanical chain with impacts" . "Anderle, Milan" . . "2014-11-05+01:00"^^ . "RIV/67985556:_____/14:00435096" . . . "2"^^ . "I, P(GAP103/12/1794)" . "Cyclic walking-like trajectory design and tracking in mechanical chain with impacts" . "\u010Celikovsk\u00FD, Sergej" . "Proceedings of the XXIst Congreso ACCA 2014" . . . "2"^^ . . . "Underactuated systems; Generalized Acrobot; Walking trajectory design"@en . "ACCA" . "RIV/67985556:_____/14:00435096!RIV15-GA0-67985556" .