Mechanics of Terrestrial Locomotion : With a Focus on Non-pedal Motion Systems

This book covers the specific aspects of mechanics and control theory that are applied in terrestrial locomotion systems. In addition to the theoretical basics and applications, exercises are provided. The solutions can be found at "www.springer.com/978-3-540-88840-6" as well as on - video files regarding prototypes of wheeled and worm-like locomotion systems; - e-learning software on the mechanical background; - MAPLE and MATLAB programs for the dynamic simulation of locomotion systems. Front Matter....Pages 1-17 Introduction....Pages 1-6 Mechanical Background....Pages 7-46 Mathematical Methods and Elements of Control Theory....Pages 47-71 Wheeled Locomotion Systems – Rolling....Pages 73-124 Walking Machines – Walking....Pages 125-159 Worm-like Locomotion Systems – Crawling....Pages 161-246 Adaptive Control Approach to Worm-like Locomotion Systems....Pages 247-264 Prototypes of Worm-Like Locomotion Systems....Pages 265-277 Back Matter....Pages 1-11 This text on artificial locomotion systems includes video files of prototypes of wheeled and worm-like locomotion systems, E-learning software on the mechanical background, and MAPLE programs for the dynamic solution of locomotion systems.