A four-legged obot based on GZ-I modules

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.