# Hybrid invariance of the collocated virtual holonomic constraints and its application in underactuated walking**This work was supported by the Czech Science Foundation through the research grant 13-20433S.

> Research article (IFAC-PapersOnLine, 2016) · cited 10× · AI/ML

**Wikidata**: [openalex:W2563436646](https://www.wikidata.org/wiki/openalex:W2563436646)  
**Source**: https://4ort.xyz/entity/hybrid-invariance-of-the-collocated-virtual-holonomic-constraints-and-its-application-in-underactuated-walking-this-work