From Mechanical to Biological Systems. An Integrated Approach

Аннотация

This special issue consists of reviewed articles contributed by lecture presenters of the IUTAM Symposium ``From Mechanical to Biological Systems: an Integrated Approach'' held at the Udmurt State University, Izhevsk, Russia, from June 5 to June 10, 2012. The main goal of the Symposium was to promote an integrated approach to the understanding of the dynamical structures of mechanical artefacts, on the one hand, and living bodies, on the other hand. Areas of emphasis included the dynamics of ground-moving self-propelling mechanisms, aquatic locomotion, mechanical paradoxes and artefacts. A significant part of the presentations was devoted to dynamical systems which are of practical interest for robotics, especially for the area of mobile robots, including biologically inspired mobile robots.

Содержание

Preface

An Amphibious Vibration-driven Microrobot with a Piezoelectric Actuator
Felix Becker, Klaus Zimmermann, Tatiana Volkova, and Vladimir T. Minchenya

How to Control Chaplygin’s Sphere Using Rotors
Alexey v. Borisov, Alexander A. Kilin, and Ivan S.Mamaev

How to Control the Chaplygin Ball Using Rotors. II
Alexey v. Borisov, Alexander A. Kilin, and Ivan S.Mamaev

The Dynamics of Vortex Rings: Leapfrogging, Choreographies and the Stability Problem
Alexey v. Borisov, Alexander A. Kilin, and Ivan S.Mamaev

Optimal Control of Vibrationally Excited Locomotion Systems
Felix L. Chernousko, Nikolai N. Bolotnik and Tatiana Yu. Figurina

On the Optimal Shape of Magnetic Swimmers
Hermes Gadˆelha

Steady-state Motions of an N-module Vibration-driven Locomotion System
Hongbin Fang, Jian Xu

On the Dynamics of a Rigid Body with Moving Masses and a Rotor on a Rough Plane
A. P. Ivanov, A.v. Sakharov

Stability of Underwater Periodic Locomotion
Fangxu Jing and Eva Kanso

A deviation based discrete control algorithm for a mobile omnidirectional robot
Yuri L. Karavaev, Sergey A.Trefilov

Dynamics and Self-Propulsion of a Spherical Body Shedding Coaxial Vortex Rings in an Ideal Fluid
Phanindra Tallapragada and Scott David Kelly

On the Dynamic Markov-Dubins Problem: from Path Planning in Robotic and Biolocomotion to Computational Anatomy
Alex Lґucio Castro and Jair Koiller

Quaternion Solution for the Rock’n’roller: Box Orbits, Loop Orbits and Recession
Peter Lynch and Miguel D. Bustamante

On the motion of connected pendulums
A. P. Markeev

Normal and Hemiparetic Walking
Friedrich Pfeiffer and Eberhard KЁonig

Falling Motion of a Circular Cylinder Interacting Dynamically with a Point Vortex
Sergei v. Sokolov and Sergei M.Ramodanov

Vortex Pairs and Dipoles
Stefan G. Llewellyn Smith and Raymond J. Nagem

On the Dynamic Model and Motion Planning for a Spherical Rolling Robot Actuated by Orthogonal Internal Rotors
Mikhail Svinin, Akihiro Morinaga, and Motoji Yamamoto

The Self-propulsion of a Body with Moving Internal Masses in a Viscous Fluid
Evgeny v. Vetchanin, Ivan S. Mamaev, and Valentin A. Tenenev

The Mathematical Model of the Four-link Jumping Robot and Investigation of its Dynamic Characteristics
S. F. Jatsun, K. A. Sapronov, L.Yu. Volkova