Verb structures in English

Verb forms can be confusing in English. For instance, when do we use the infinitive form go and when should we use the -ing form going?
These are the different structures that we use when there are two verbs together in a sentence:

• Verb + bare infinitive - I can go there.
• Verb + -ing - I love going there.
• Verb + to + infinitive - I want to go there.
• Verb + object + to + infinitive - He wants me to go there.