昆虫级微型爬行机器人的研究综述  

Review on Insect Sized Micro Crawling Robots

作　　者：曾潇丰 尹灿辉 刘青 吴宇列[1] 肖定邦[1] ZENG Xiaofeng;YIN Canhui;LIU Qing;WU Yulie;XIAO Dingbang(College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学智能科学学院,长沙410073

出　　处：《南京航空航天大学学报》2024年第3期387-406,共20页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：国防基础科研资助计划(JCKY2023210C002)。

摘　　要：爬行作为动物的一种有节律的运动行为,众多学者对其潜在机理的研究已经持续了一百多年。随着计算机集成技术、材料科学、空气动力学、微纳制造与人工智能技术的不断进步,对仿生爬行机器人的研究正朝着微型化和智能化的方向发展。本文对昆虫级微型爬行机器人的前沿动态发展进行了综合评述,并结合当前发展态势给出了微型爬行机器人未来发展的建设性意见。首先介绍了微型爬行机器人的研究背景和基本概念,对微型爬行机器人的运动机理和稳定性判据进行了简单分析。然后分析了微型爬行机器人的驱动方式并比较了各种微型爬行机器人的性能。最后,从供能、制造和设计3方面对微型爬行机器人的关键技术进行了总结,探讨了微型爬行机器人研究面临的问题,并提出了微型爬行机器人未来的应用前景和发展方向。Crawling is a rhythmic locomotor behavior of animals,and its underlying mechanisms has been studied by many scholars for over a hundred years.With the continuous progress of computer integration technology,materials science,aerodynamics,micro‑nano manufacturing,and artificial intelligence technology,the research on bionic crawling robots is developing towards miniaturization and intelligence.This paper provides a comprehensive review on the cutting‑edge dynamic development of insect level micro crawling robots,and provides constructive suggestions for the future development of micro crawling robots based on the current development trend.First,the research background and basic concepts of micro crawling robots are introduced,and the motion mechanism and stability criteria of micro crawling robots are briefly analyzed.Second,the driving methods of micro crawling robots are analyzed and the performance of various micro crawling robots is compared.Finally,the key technologies of micro crawling robots are summarized from three aspects:Energy supply,manufacturing,and design.The problems faced in the research of micro crawling robots are discussed,and the future application prospects and development directions of micro crawling robots are proposed.

关 键 词：微型爬行机器人 步态 动力学模型 驱动器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]