仿生机器人研究现状与发展趋势  

The Current Research Status and Development Strategy on Biomimetic Robot

作　　者：王国彪[1] 陈殿生[2] 陈科位[2] 张自强[2] 

机构地区：[1]国家自然科学基金委员会工程与材料科学部,北京100085 [2]北京航空航天大学机器人研究所,北京100191

出　　处：《机械工程学报》2015年第13期27-44,共18页Journal of Mechanical Engineering

摘　　要：仿生机器人是指依据仿生学原理,模仿生物结构、运动特性等设计的性能优越的机电系统,已逐渐在反恐防爆、太空探索、抢险救灾等不适合由人来承担任务的环境中凸显出良好的应用前景。按照工作环境可将仿生机器人分为陆面仿生机器人、空中仿生机器人以及水下仿生机器人三类。指出仿生机器人经历了原始探索、宏观仿形与运动仿生、机电系统与生物性能部分融合三个阶段,并概述三类仿生机器人国内外研究现状。分析发现当前研究还存在着生物运动机理研究不深,结构设计、材料应用、驱动及控制方式大多较为传统、能量利用率低等问题,导致了仿生机器人从宏观到微观与生物都存在较大差异,'形似而神不似',远未达到实际应用程度。指出仿生机器人正向着刚柔混合结构,仿生结构、材料、驱动一体化,神经元精细控制,高效的能量转换的类生命系统方向发展。Bionic robots are good performance mechanical and electrical systems which imitate biological structures and motion characteristics of organisms according to the principles of bionics.They have shown their potential use in the dangerous conditions to human beings,such as anti-terrorism,space exploration and rescue.The bionic robots can be divided into three types according to their work conditions,such as the land bionic robots,the air bionic robots,and the underwater bionic robots.The developments of the bionic robots have experienced three stages,such as original exploration,imitation of the biological prototypes＇ appearances and motions,mechanical and electrical systems with partial biological properties.The research status at home and abroad of these three types robots is discussed.And several problems of the researches are found after analysis,such as the lack of the biological motion mechanism researches,the traditional construction,material,driving and controlling mode,and the low efficiency of the power,leading to the difference between robots and creatures.These problems make the bionic robots similar in shape to the creatures but very different in essence.So the bionic robots now days are absence of effective applications.The development trend is pointed out that the bionic robots are developing towards lifelike system,including moving toward the rigid-flexible mechanism,integration of the bionics construction,material and driver,neuron fine control,and the efficient power transformation.

关 键 词：仿生机器人 刚柔混合结构 结构材料驱动一体化 类生命系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]