Titlebook: Mechanics of Terrestrial Locomotion; With a Focus on Non- Carsten Behn,Igor Zeidis,Klaus Zimmermann Textbook 2009 Springer-Verlag Berlin He

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Mechanical Background,The multibody system is an appropriate model for the locomotion systems considered in this book. Therefore, the basic kinematics and dynamics of such systems are briefly introduced in this chapter. The starting point is a rigid body as a basis element of a multibody system.

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,Wheeled Locomotion Systems – Rolling,All biological forms of locomotion have been copied in technical locomotion systems. The only form of locomotion scarcely found in biological systems but dominating in technology is rolling, see Fig. 4.1.

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,Walking Machines – Walking,As mentioned in Chapter 1, locomotion with legs is not within the scope of this book. But in order to show the difference between rolling and walking from the point of view of mechanics (as is our goal), simple models of walking are discussed in this chapter. Also, the problem of the robustness and adaptivity of walking is briefly examined.

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Mathematical Methods and Elements of Control Theory,tical model makes it possible to reveal the essence of the studied phenomena and to switch over to prediction and control problems. The process of mathematical simulation can be divided into four stages:

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Adaptive Control Approach to Worm-like Locomotion Systems,odel in Section 6.3, which is used instead of the theory of spikes in Section6.2, consists of COULOMB sliding friction . friction of rest. The latter kind of friction causes the whole friction model to become a set-valued function model, see (2.89) in Section 2.4.3.3 or confer survey articles such a