Locomotion

This book covers the specific aspects of mechanics and control theory that are applied in terrestrial locomotion systems. In addition to the theoretical basics exercises are provided. The book also comes packaged with: video files of prototypes of wheeled and worm-like locomotion systems; E-learning Software on the mechanical background; and, MAPLE programs for the dynamic simulation of locomotion systems.

Dynamic modeling is the fundamental building block for mechanism analysis, design, control and performance evaluation. One class of mechanism, legged machines, have multiple closed-chains established through intermittent ground contacts. Further, walking on natural terrain introduces nonlinear system compliance in the forms of foot sinkage and slippage. Closed-chains constrain the possible motions of a mechanism while compliances affect the redistribution of forces throughout the system.