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 wormlike locomotion systems; elearning 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)  - Born in Suhl, Germany Polytechnical Oberschule in Suhl, Germany Advanced Oberschule in Suhl, Germany MartinLutherUniversity in Halle, Germany, Institute of preparation of studies abroad Study of "Theoretical Mechanics" at the Charkov State University, Ukraina, diploma degree (Dipl.Ing.) with grade "summa cum laude" Scientific employee at the Department of Technical Mechanics / Mechanism Technology of the Technische Hochschule (TH) Ilmenau1985 Visiting research position at the Belarusian National Technical University Minsk, Belarus1985 PhD degree (Dr.-Ing.) with grade "magna cum laude" at the TH Ilmenau - 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, Italy1990 Habilitation (Dr.-Ing. habil.) in Technical Mechanics with subject "Mathematische Modellierung und rechnerunterstützte Simulation im Entwicklungsprozess technischer Systeme und in der Ingenieurausbildung" - Temporary Professorship of Technical Mechanics at the Technical University (TU) Ilmenau Textbook "Übungsaufgaben Technische Mechanik" (Fachbuchverlag LeipzigKöln) 1997 University Professor (C4) of Technical Mechanics at the Faculty of Mechanical Engineering of the TU Ilmenau2000,2003 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, Russia1957-1967 Secondary School in Moscow, Russia1967-1972 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 Moscow1975-1980 Assistant Professor at the Faculty of Mechanics and Mathematics Lomonosov State University Moscow1980 PhD degree at the Lomonosov State University Moscow1980-1993 Associated Professor at the Faculty of Mechanics and Mathematics Lomonosov State University Moscow1993 Removal on a permanent residence to Germanysince 1998 Scientific research position at the Faculty of Mechanical Engineering of the TU Ilmenau