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.