... Cerm Brno, 20 02, ISBN 8 0-7 20 4 -2 5 6- 4. [2] P. Souček, Servomechanismy ve výrobních strojích, ČVUT Praha, 20 04, ISBN 8 0-0 1-0 29 2- 6 . [3] J. Křepela, V. Singule, Mathematic model of C-axis drive ... Modelling of kinematics of biped robot, Dynam-ics of machines 20 06, ISBN 8 0-8 59 1 8-9 7-8 , 20 06 [2] Zezula, P., Grepl, R.: Optimization and design of experimental bipedal robot, Journal Engeneering ... Yamashita, “Analysis of human abnormal walking using zero moment joint”, 20 00 10 D. Vlachý, P. Zezula, R. GreplGenetic Algorithm generates an initial population of individualsThe calculated...