Wie die Würmer: "beinlose" Bewegung. - In: Forschung, ISSN 1522-2357, Bd. 32 (2007), 2, S. 22-24
http://dx.doi.org/10.1002/fors.200790014
Motion of a chain of three mass points on a rough plane under kinematical constraints. - In: 9th Conference on Dynamical Systems - Theory and applications, ISBN 978-83-924382-8-1, (2007), S. 845-852
Improved gain parameter models for adaptive control of relative degree two systems. - In: 9th Conference on Dynamical Systems - Theory and applications, ISBN 978-83-924382-8-1, (2007), S. 685-692
This paper is another contribution to the adaptive control of quadratic, nonlinearly perturbed multi-input u, multi-output u, minimum phase systems with strict relative degree two. The consideration of uncertain systems leads to the use of adaptive control. The aim is to design universal adaptive controllers, which achieve a pre-specified control objective. Because almost all already existing controllers in the literature offer the same drawback (only monotonically increasing gain parameter) and with respect to limited resources in applications it is necessary to design new adaptation laws. We present simulations of gain parameter models in application to bio-inspired sensors with unknown system parameters to adaptively compensate an unknown ground excitement.
Worm-like locomotion as a problem of nonlinear dynamics. - In: Journal of theoretical and applied mechanics, ISSN 1429-2955, Bd. 45 (2007), 1, S. 179-187
Entwurf einer bahngeführten Positionierung als Basis der Lokomotion omnidirektionaler Roboter. - In: Autonome mobile Systeme 2007, ISBN 978-3-540-74763-5, (2007), S. 64-67
Straight chains of interconnected mass points under the action of non-symmetric dry friction. - In: Proceedings in applied mathematics and mechanics, ISSN 1617-7061, Bd. 7 (2007), 1, S. 4010011-4010012
http://dx.doi.org/10.1002/pamm.200700594
Locomotion based on the control of the shape of magnetic fluid surfaces and of magnetizable media. - In: Proceedings in applied mathematics and mechanics, ISSN 1617-7061, Bd. 7 (2007), 1, S. 4140003-4140004
The realization of locomotion based on the deformation of a free surface of magnetic fluid layer in a traveling magnetic field is studied. A plane flow of an incompressible viscous magnetic fluid layer on a horizontal surface in a nonuniform magnetic field and a plane two-layers flow of incompressible viscous magnetic fluids between two parallel solid planes in a magnetic field is considered. Also the flow of an incompressible viscous magnetic fluid layer on a cylinder in a nonuniform magnetic field is an object of invesitgation. The deformation an the motion of a body made by a magnetizable polymer in an alternating magnetic field are experimentally studied. The cylindrical body (worm) which is located in a cylindrical tube is analyzed. These effects can be used in designing autonomous mobile robots without a hard cover. Such robots can be employed in clinical practice and biological investigations.
http://dx.doi.org/10.1002/pamm.200700323
Ein Beitrag zur Schwingungsanalyse an Nanopositionier- und Nanomessmaschinen unter Berücksichtigung von nichtlinearen Reibungsmodellen - nichtsymmetrisches Stribeck-Modell. - In: Technische Mechanik, ISSN 0232-3869, Bd. 27 (2007), 2, S. 81-93
Worm-like locomotion systems (WLLS) - theory, control and prototypes. - In: Climbing & walking robots, ISBN 978-3-902613-16-5, (2007), S. 429-456
Worm-like locomotion systems at the TU Ilmenau. - In: Twelfth World Congress in Mechanism and Machine Science, (2007), insges. 6 S.
In this paper we introduce the theory in designing of worm-like locomotion systems (WLLS) at the TU Ilmenau. For this, we present a certain type of mathematical models of WLLS and sketch the corresponding theory. Gaits from this theory can be tracked by means of adaptive controllers. Current experiments are aimed at the justification of theoretical results.