A four-legged obot based on GZ-I modules

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.