System And Intelligent Gait Design For Modular Robots

With the continuous development of science and technology, including human’sincreasing demanding, the robot usher in a rapid growth. It is predicted that the robotwill become necessities like computer which changes the lifestyle of mankind. Themodular robot is a new and important branch of robotics. This paper studies a kind ofmodular robot based on GZ-I modules.The modular robot owns the advantages of versatility, low cost and robustnessnaturally. However, low cost and robustness are not fully reflected the current level ofmodular robots. Therefore, in order to reduce the cost and improve the stability ofmodular robots, the following researches have been carried out. Firstly, asynchronizational control method of multiple servos is promoted, which can be easilyadapted to generate locomotion of modular robots with fewer physical resources. Withthe help of saving the hardware resources and using cheaper microchip, this methodreduces the cost of modular robots. Secondly, a circuit board is designed based oncentralized control, and which is applied to a H-shaped four-legged modular robot togenerate basic locomotion. Intelligent sensors are also added to our robot, whichlaid the foundation for further research of intelligent perception and intelligent gaitadjustment. Furthermore, a strategy of adaptive gaits control has been proposed. Inorder to prove the validity of the method, it is applied to a snake-like robot to walk up aslope.Our studies of modular robots, especially related work based on GZ-I modularrobots, lay a foundation of follow-up study. It plays an important role in promoting thedevelopment of modular robots both in our country and abroad.