微小型跳跃机器人:仿生原理,设计方法与驱动技术  

A Review of Small-Scale Jumping Robots:Bio-Mimetic Mechanism,Mechanical Design and Actuation

作　　者：吴业辉 刘梦凡 白瑞玉 李博 陈贵敏[1,2] Wu Yehui;Liu Mengfan;Bai Ruiyu;Li Bo;Chen Guimin(State Key Laboratory of Manufacturing System Engineering,Xi’an Jiaotong University,Xi’an 710049,China;Shaanxi Province Key Laboratory for Intelligent Robots,Xi’an Jiaotong University,Xi’an 710049,China)

机构地区：[1]西安交通大学机械制造系统工程国家重点实验室,西安710049 [2]西安交通大学陕西省智能机器人重点实验室,西安710049

出　　处：《动力学与控制学报》2023年第12期37-52,共16页Journal of Dynamics and Control

基　　金：国家自然科学基金资助项目(52075411,52305034)。

摘　　要：高爆发性的跳跃是生物亿万年进化演变中赖以生存的关键之一,帮助生物实现在各种非结构化环境下的灵活运动功能.通过对生物跳跃机制的深入理解,微小型跳跃机器人在功能及性能上取得长足进步.本文以生物跳跃运动四个阶段(准备、起跳、腾空和着陆)为主线,剖析了生物的行为原理,介绍了对应的微小型跳跃机器人的动力学特征与技术,归纳了现有研究的挑战,最后讨论了跳跃机器人的未来发展趋势和潜在研究价值.Highly explosive jumping is one of the survival keys to the organism evolution over the course of billions of years.This movement helps organisms to achieve flexible movement functions under various unstructured conditions.Through an in-depth understanding of biological jumping mechanism,the small-scale jumping robot has made great progress in function and performance.Taking the four stages of biological jumping movement(preparation for take-off,take-off,flight and landing) as the main line,this paper reviews the behavioral principle of organisms,introduces the dynamic characteristics and technology of the corresponding small-scale jumping robots,summarizes the challenges of existing research,and finally discusses the future development and potential of jumping robots.

关 键 词：跳跃机器人 生物跳跃机制 仿生 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]