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. © 2010 Springer-Verlag.
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CITATION STYLE
Fang, Y., Zhang, H., Li, X., & Chen, S. Y. (2010). The mathematical model and control scheme of a four-legged robot based on GZ-I and note module. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 6424 LNAI, pp. 300–309). https://doi.org/10.1007/978-3-642-16584-9_28
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