新技术形势下四足、双足机器人技术的变革  

The Transformation of Quadruped and Biped Robot Technologies under the New Technological Situation

作　　者：降晨星 姚其昌[1,2,3] 许鹏 周雨婷[2,3] 闫曈 JIANG Chenxing;YAO Qichang;XU Peng;ZHOU Yuting;YAN Tong(Unmanned Vehicle Research Center,China North Vehicle Research Institute,Beijing 100072,China;China North Artificial Intelligence&Innovation Research Institute,Beijing 100072,China;Collective Intelligence&Collaboration Laboratory,Beijing 100072,China)

机构地区：[1]中国北方车辆研究所无人中心,北京100072 [2]中兵智能创新研究院有限公司,北京100072 [3]群体协同与自主实验室,北京100072

出　　处：《兵工学报》2023年第S02期84-89,共6页Acta Armamentarii

基　　金：国家自然科学基金项目(92248303);国家重点研发计划项目(2022YFB4701500)。

摘　　要：从科研思维、行为模式方面,论述四足、双足机器人国内发展现状,对比国内与波士顿动力公司间存在的差距。从科研范式的角度分析新技术推动下中国在四足、双足机器人换道超车的核心技术及发展方向,总结国内在电驱动关节及足式机器人控制方面所面临的机遇,提出基于AI驱动的足式机器人系统设计方法。The current state of quadruped and bipedrobot technology in China is discussedin terms of scientific research thinking and behavioral patterns.Additionally,it highlights the disparity between this technology and that of Boston Dynamics.From the perspective of scientific research paradigm,the core technology and development direction of quadruped and biped robots shift overtaking driven by new technology are analyzed,the opportunities faced in electric drive joint and legged robot control at home are summarized,and a design method of AI-driven legged robot system is proposed.

关 键 词：四足、双足机器人 行为模式 AI驱动 系统设计 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]