A four-legged obot based on GZ-I modules

Author

Li, Yong ; Zhang, Houxiang ; Chen, Shengyong

Author_Institution

Coll. of Inf. Eng., Zhejiang Univ. of Technol., Hangzhou

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

921

Lastpage

926

Abstract

This paper adopts a GZ-I module and based on the module constructed an ldquoHrdquo-shaped four-legged robot. Inspired from the way of animals, in this paper the locomotion is generated and controlled by a central pattern generator (CPG), and so that the robot movement is digitally controlled. The four-legged robot has the pose and locomotion of standing, crawling, turning, and lateral crawling. Furthermore, the paper also studied the robot´s crawling velocity and climbing abilities over obstacles. In the end, the paper analysed the stability of the robot and other locomotion.

Keywords

legged locomotion; stability; velocity control; GZ-I modules; H-shaped four-legged robot; central pattern generator; robot climbing abilities; robot crawling velocity; Animals; Centralized control; Educational institutions; Humanoid robots; Joining processes; Paper technology; Robot kinematics; Service robots; Servomechanisms; Turning; GZ-I module; central pattern generator; four-legged robot; locomotion; modular robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4913122

Filename

4913122