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

ISBN-13: 9783540888406 / Angielski / Twarda / 2009 / 312 str.

Klaus Zimmermann; Igor Zeidis; Carsten Behn

Opis

] Starting with the research of G. Bogelsack in the 1970s, the analysis of biological locomotion andmanipulation systemsandtheirtechnical realizationhas beenan- portant research eld within the Faculty of Mechanical Engineering at the Ilmenau University of Technology. In 1996, the German Research Foundation (DFG) funded the Innovation College Motion Systems at the University of Jena in a coope- tion with engineers at the Ilmenau University of Technology. Thus, research was able to be intensi ed and extended. Of course, the whole spectrum of biologically inspired systems is much too wide, so the analysis was still focused on locomotion and manipulation systems. At this stage J. Steigenberger from the Faculty of Mathematics and Natural S- ences at the Ilmenau University of Technology contributed important studies of worm-like locomotion systems with much dedication and technical competence. Moreover, he conceived and carried out a lecture series entitled Mathematical Basics for Locomotion Systems, which was based on his evaluation of national and international research developments in this eld. I. Zeidis and K. Zimmermann contributed many publications on the mechanics of worm-like locomotion systems based on continuum and rigid-body models as well as asymptotic methods. Since 2004 the German Research Foundation has supported a series of projects led by K. Zimmermann dedicated to biologically inspired robotics. In addition to these activities, the Department of Technical Mechanics and the Department of Computer Application in Mechanical Engineering (M. Weiss) together with masters and doctoral students started the development of mobile robots for the RoboCup Small-Size League in 1998."

Recenzje

From the reviews:

"This textbook is aimed at undergraduate students looking for an introduction to the field of mobile robots from a mechanics and control perspective." (IEEE Control Systems Magazine, Vol. 30, June, 2010)

"This book covers specific aspects of mechanics and control theory for terrestrial locomotion systems. ... the book combines various approaches and could be useful to students and engineers as a reference and textbook." (Alexander Mikhailovich Kovalev, Zentralblatt MATH, Vol. 1217, 2011)

Spis treści

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.

O autorze

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 of the 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

Blurb

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.