跳跃机器人研究现状和趋势  

Research Status and Development Trend of Hopping Robots

作　　者：魏敦文[1] 葛文杰[1] 

机构地区：[1]西北工业大学机电学院,陕西西安710072

出　　处：《机器人》2014年第4期503-512,共10页Robot

基　　金：国家863计划资助项目(2007AA04Z207);国家自然科学基金资助项目(50975230);高等学校博士学科点专项科研基金资助项目(20136102130001);西北工业大学创业种子基金资助项目(Z2012057)

摘　　要：跳跃运动其着地点的离散性和发力的突发性和爆发性使跳跃运动模式的仿生机器人具备很强的越障和环境适应能力.本文结合国内外跳跃机器人的研究现状和成果,将跳跃机器人研究分为伸缩式、关节腿式、轮滚式和弹性变形式4类,并分析各类机器人特征.结合本课题组对跳跃机器人的研究,总结了跳跃机器人研究的关键技术,最后展望了未来跳跃机器人研究发展趋势.Hopping locomotion has characteristics of isolated footholds, and powerful and explosive hopping force, which makes bio-inspired robots with hopping locomotion have the ability of jumping over obstacles and the environmental adapt- ability. In this paper, hopping robots are divided into four categories on the basis of research results in China and overseas： telescopic robots, articulated robots, wheeled ＆ rolling robots and flexible robots. Combining with the current research about hopping robots,the characteristics of each categories are analyzed. The related key technologies are proposed. Finally, the development trends of hopping robots in future are predicted.

关 键 词：跳跃运动 跳跃机器人 仿生机器人 

分 类 号：TP182[自动化与计算机技术—控制理论与控制工程]