The Configuration Research And Locomotion Control For The Modular Robot GZ-I

With the development of the economy, science and technology, the robotics is increasingly used in research, education, social services, urban search and rescue, aerospace, and so on. A modular robot is composed of one type of modules or few types of modules, which can be used to construct many different kinds of robots. As a branch of robot, the modular robot holds out three promises: versatility, robustness, and low cost.The paper presents a module GZ-I, which has one degree of freedom and three connection ways. Based on the module GZ-I, we constructed a pitch connecting robot, a pitch-yaw connecting robot, a four-legged robot. Inspired from the way of animal, the locomotion of the modular robot can be generated and controlled by the central pattern generators (CPG). The main work and results of the paper are as follows: 1. Analyze the topology of the modular robot based on the module GZ-I, and the locomotion of each robot respectively. 2. Construct a pitch connecting modular robot and a pitch-yaw connecting modular robot, and analyze the locomotion of them and the movement principles in detail, and control the locomotion of the two robots in reality. 3. Construct a four-legged modular robot, and analyze its locomotion, the velocity, the capability of climbing and the stability in detail, and implement the control of the locomotion. 4. Design two new kinds of modules that are cube module and rotation module, which can be used to make the modular robot GZ-I own more topology and more locomotion.The research of this paper laid the foundation of the modular robot GZ-I for the further work, and played a certain role in promoting the domestic research in the field of modular robot.