Modal verbs are used to express ideas such as ability, permission, obligation, suggestion, necessity, and intention. The modal verbs include can, could, may, might, shall, should, will, would, must, and ought to. They have certain grammatical characteristics - they are followed by an infinitive without "to", they don't have past or present forms, and they don't take "s" in the third person singular. Different modal verbs express different meanings - can expresses ability or permission, must expresses obligation or necessity, should expresses good advice or expectation, and may or might expresses possibility or uncertainty.