Dynamics of Mobile Systems with Controlled Configuration

by Felix Chernousko, Nikolay Bolotnik

Overview

The book discusses the dynamics and control of motion for mobile robots and other systems capable of moving in various environments by modifying their configurations. It is intended for researchers and engineers in theoretical and applied mechanics, robotics, control theory, and biomechanics. Additionally, graduate and post-graduate students studying these disciplines will find it a useful resource.

Product Details

ISBN-13:	9789819718245
Publisher:	Springer Nature Singapore
Publication date:	05/18/2024
Edition description:	2024
Pages:	450
Product dimensions:	6.10(w) x 9.25(h) x (d)

About the Author

Professor Felix L. Chernousko is Principal Researcher of the Institute for Problems in Mechanics of the Russian Academy of Sciences and graduated from Moscow Institute of Physics and Technology with honor. His research covers various areas of mechanics, control theory, robotics, and applied mathematics. He investigated attitude dynamics of spacecraft subject to external and internal perturbations and analyzed angular motions of bodies containing fluid and elastic parts. His methods and algorithms for optimal control and variational problems were widely used for trajectory optimization of vehicles and robots as well as in solid mechanics. He developed the guaranteed (set-membership) approach to control and estimation based on ellipsoidal bounds for reachable sets. In robotics, he investigated various kinds of mobile robots. He gave plenary talks at many conferences and delivered lectures in a number of universities. He published over 500 papers and 15 books. He is Full Member of the Russian Academy of Sciences, Russian Academy of Engineering, International Academy of Astronautics, European Academy of Sciences, Serbian Academy of Sciences and Arts, and Fellow of the European Mechanics Society. He is Honorary Professor of Moscow Institute of Physics and Technology. He is Member of Editorial Boards of several international scientific journals. He was awarded two Russian State Prizes for Science and Technology, Leninsky Komsomol Prize for Science (the highest Soviet award for scientists under 33), Chaplygin Gold Medal and Andronov Prize of the Russian Academy of Sciences, Koerber Award for the European Science, Alexander von Humboldt Research Prize (Germany), Euler Gold Medal (Euler Foundation), Ishlinsky Prize of Russian National Committee of Theoretical and Applied Mechanics, Gold Medal at the International Trade Fair for Technological Innovation (Brussels), and a medal at the International Robot Olympics (Glasgow, UK).

Nikolay N. Bolotnik, Doctor of Sciences (Physics and Mathematics), is Corresponding Member of the Russian Academy of Sciences and Head of the laboratory of robotics and mechatronics at the Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences. His areas of expertise involve mechanics, control theory, optimal shock isolation, and robotics. He is Author of 6 books and more than 200 journal papers on these topics. He is a winner of the State Prize of the Russian Federation for Science and Technology and Andronov Prize of the Russian Academy of Sciences.

Table of Contents

Motion of multilink snake-like mechanisms in dynamic mode.- Quasistatic motion of multilink mechanisms.- Motion of chains of bodies in resistive media.- Locomotion of multi-link systems in liquid.- Rectilinear periodic motions of systems.- Plane motions of a body controlled by means of internal masses.- Attitude control of a rigid body by means of internal movable masses.