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.

Univ.-Prof. Dr.-Ing. habil. Klaus Zimmermann

Curriculum Vitae (table)

1. Born in Suhl, Germany

1. Polytechnical Oberschule in Suhl, Germany

1. Advanced Oberschule in Suhl, Germany

1. Martin-Luther-University in Halle, Germany, Institute of preparation of studies abroad

1. Study of "Theoretical Mechanics" at the Charkov State University, Ukraina, diploma degree (Dipl.-Ing.) with grade "summa cum laude"

1. Scientific employee at the Department of Technical Mechanics /

Mechanism Technology of the Technische Hochschule (TH) Ilmenau

1985 Visiting research position at the Belarusian National Technical University Minsk, Belarus

1985 PhD degree (Dr.-Ing.) with grade "magna cum laude" at the TH Ilmenau

1. Assistant Professor at the Department of Technical Mechanics / Mechanism Technology, and at the Institute of Microsystems Technology, Mechatronics and Mechanics of the TU Ilmenau, resp.

1987,1989 Visiting research positions at the University of Pisa, Italy

1990 Habilitation (Dr.-Ing. habil.) in Technical Mechanics with subject "Mathematische Modellierung und rechnerunterstützte Simulation im Entwicklungsprozess technischer Systeme und in der Ingenieurausbildung"

1. Temporary Professorship of Technical Mechanics at the Technical University (TU) Ilmenau

1. Text-book "Übungsaufgaben Technische Mechanik" (Fachbuchverlag Leipzig-Köln)

1997 University Professor (C4) of Technical Mechanics at the Faculty of Mechanical Engineering ofthe TU Ilmenau

2000,2003 Text-book "Technische Mechanik-multimedial" (Fachbuchverlag Leipzig-Köln)

since 2002 Leadership of a subproject of the Collaborative Research Centre 622 "Nanopositioning- and Nanomeasuring-Maschines"

2004-2005 Dean at the Faculty of Mechanical Engineering of the TU Ilmenau

Dr. rer. nat. Igor Zeidis

Curriculum Vitae (table)

22.03.1950 Born in Moscow, Russia

1957-1967 Secondary School in Moscow, Russia

1967-1972 Study of "Mechanics"at the Faculty of Mechanics and Mathematics, Lomonosov State University Moscow, Russia, diploma degree (Dipl.-Math.)

1972-1975 Scientific employee at the Faculty of Mechanics and Mathematics, Lomonosov State University Moscow

1975-1980 Assistant Professor at the Faculty of Mechanics and Mathematics Lomonosov State University Moscow

1980 PhD degree at the Lomonosov State University Moscow

1980-1993 Associated Professor at the Faculty of Mechanics and Mathematics Lomonosov State University Moscow

1993 Removal on a permanent residence to Germany

since 1998 Scientific research position at the Faculty of Mechanical Engineering of the TU Ilmenau



Zusammenfassung


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.



Inhalt
Mechanical Background.- Mathematical Methods and Elements of Control Theory.- Wheeled Locomotion Systems #x2013; Rolling.- Walking Machines #x2013; Walking.- Worm-like Locomotion Systems #x2013; Crawling.- Adaptive Control Approach to Worm-like Locomotion Systems.- Prototypes of Worm-Like Locomotion Systems.