The mathematical model and control scheme of a four-legged robot based on GZ-I and note module

Authors:
Yinfeng Fang;Houxiang Zhang;Xiuli Li;S. Y. Chen
Affiliations:
Institute of Intelligent Systems, Zhejiang University of Technology, Hangzhou, China;Institute of TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany;Institute of Intelligent Systems, Zhejiang University of Technology, Hangzhou, China;Institute of Intelligent Systems, Zhejiang University of Technology, Hangzhou, China
Venue:
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Year:
2010

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Abstract

This paper adopts a set of GZ-I robot modules and a Note module for construction of an H-shaped four-legged robot. Kinematics graph theory and homogeneous matrix transform are applied for gait design and locomotion planning. Its forward crawling motion is designed and simulated by computers. The corresponding control scheme of the modular robot is also studied in this paper, which can control 8-channel modules and realizes rotational speed adjustable by an 8-bit microcontroller. Experiments show the feasibility of the system structure and effectiveness of the motion control.