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Regular and Irregular verbs, As far as I know they don't have a rule, and should be memorized.
The term "anomalous verb" is defined in A.S.Hornby'sA Guide to Patterns and Usage in English. Anomalous verbs are verbs that do not take "to do" in questions or negative sentences (can, may, be, will, shall . . . ). It is a useful notion, because it is not exactly the same as "auxiliary verb". (He is not old enough: to be is not an auxiliary here; He daren't ask : auxiliary and anomalous, but He doesn't dare to ask: auxiliary but not anomalous. . . ).
First of all, logical verbs are regular ones; anomlous verbs are irregular ones.The difference lies in how the word is put into past tense. Simple past tense verbs always have just one part. Past participle tense verbs have multiple parts and usually require an auxiliary verb, such as had, has or have. With regular verbs, the past tense simply adds an “ed” to the end of the word, with both simple past and past particle taking the same form. However, irregular verbs are the oddballs, the mavericks in the world of verbs; they are the verbs that do not conform to the traditional rules. With these verbs, adding the “ed” is not only incorrect, but it often sounds awkward. The patterns for irregular verbs vary, and the simple past and past participle can end differently
All the main verbs other than modal and helping verbs are called " LOGICAL VERBS in English grammar. There are24 auxiliary verbs(modal and helping verbs) in English. They are called ANOMALOUS VERBS. Example: Did you understand the subtle difference? Here "Understand" is a LOGICAL VERB. whereas "Did" is an ANOMALOUS VERB.
If you are scrupled in some verbs you can check Oxford dictionary
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