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.