This dissertation thesis presents, in both its structure and proposed solution of defined objectives, a comprehensive concept for the design of a methodology for modeling, analysis, simulation and control of walking robots with hybrid dynamics. The first part of the thesis deals with the design and implementation of a methodology which allows to obtain mathematical models of nonlinear robotic systems with hybrid dynamics with the particular focus on bipedal walking robots using modern methods and suitable hybrid system representations. The aim of the proposed modeling methodology is to enable the algorithmic generation of mathematical models for underactuated walking robotic systems with hybrid dynamics based on classical mechanics and hybrid systems theory. Limit cycle analysis and Poincaré maps are subsequently used to verify the accuracy of resulting simulation models of nonlinear robotic systems. The second part of the thesis focuses on the implementation of the results of modeling methodology for robotic systems with hybrid dynamics into the design of a methodology for hybrid walking robot control using classical and intelligent methods in suitable control structures. The designed methodology for the control of hybrid walking robots in selected configurations aims to point out the possibility of algorithmically solving the task of tracking reference trajectories in a feed-forward control structure (FFC) using trajectory planning methods based on partial feedback linearization of underactuated hybrid walking models and the boundary value problem solution. The proposed methodology for modeling and analysis of walking robots, shown in the first part of the thesis, as combined with the proposed control methodology in the second part of the thesis, which focuses on solving the task of trajectory tracking in walking robots, is demonstrated through several case studies based on different configurations of underactuated walking robots, and implemented as a software application called „WalMod“, which allows to verify the accuracy of proposed procedures, specified in the methodologies. The concept of hybrid systems is also used in the thesis to solve one of the research tasks defined in the „ALICE Experiment at the LHC in CERN“, project, which consisted of the design of software modules for the control and monitoring application of the ITS detector electronics. A test facility was built by the research team to enable testing of the proposed applications, developed as part of the ALICE CERN project. The software output of the thesis is implemented in the MATLAB / Simulink / Stateflow environment and in the WinCC OA environment by Siemens. The research objectives of the thesis together with the achieved results are expected to provide a platform for further research in modeling, analysis and control of walking robots with hybrid dynamics in more complex configurations, as well as for teaching subjects dealing with modeling, control and simulation of nonlinear hybrid systems