仿生多栖机器人研究现状与未来展望  

Research Status and Future Prospects of Biomimetic Amphibious Robots

作　　者：王健华 梅傲然 牟尧佳 甘中学 朱国牛 WANG Jianhua;MEI Aoran;MU Yaojia;GAN Zhongxue;ZHU Guoniu(Academy for Engineering and Technology,Fudan University,Shanghai 200438,China)

机构地区：[1]复旦大学工程与应用技术研究院,上海200438

出　　处：《机器人》2025年第2期283-304,共22页Robot

基　　金：上海市市级科技重大专项(2021SHZDZX0103);复旦大学学科综合繁荣计划(XM06231744).

摘　　要：仿生多栖机器人通过模仿自然界生物的结构、功能和行为,能够在不同的环境中高效执行任务,具有广阔的应用前景。本文从结构仿生、功能仿生、行为仿生和耦合仿生等4个方面阐述了仿生多栖机器人的形态学设计理论。从水、陆、空环境相互交叉的角度,将仿生多栖机器人分为水陆空仿生多栖机器人、水陆仿生多栖机器人、陆空仿生多栖机器人和水空仿生多栖机器人等4类。从结构特色、运动机理、功能实现角度概述4类仿生多栖机器人的国内外研究现状。指出现阶段仿生多栖机器人发展中存在的对生物领域实例的获取力度不够、跨领域知识推理机制不完善、系统控制方法的灵活性不足、智能水平普遍不高、能量利用效率较低等5个方面的问题。从科学和工程两个方面对仿生多栖机器人的未来进行了展望。指出生物科学、材料科学在仿生多栖机器人发展中的重要作用。提出仿生多栖机器人可与大语言模型、群体智能和数据驱动设计等技术结合发展,并优化形态学设计和驱动分布,共同推动仿生多栖机器人向着更高的适应性、自主性和智能化方向发展。Biomimetic amphibious robots can efficiently perform tasks in different environments by imitating the structure,function and behavior of natural organisms,and demonstrate broad application prospects.This paper discusses the morphological design theory of biomimetic robots from four aspects,i.e.,structural bionics,functional bionics,behavior bionics,and coupled bionics.The biomimetic amphibious robots can be divided into four types according to their working environments,such as the aquatic-terrestrial-aerial biomimetic amphibious robots,the aquatic-terrestrial biomimetic amphibious robots,the terrestrial-aerial biomimetic amphibious robots,and the aquatic-aerial biomimetic amphibious robots.The research status of these four types of robots at home and abroad is discussed from the perspectives of structural features,motion mechanisms,and functional realization.Several challenges hindering the development of biomimetic amphibious robots are identified,such as the insufficient acquisition of biological cases,the inadequate cross-disciplinary knowledge reasoning mechanisms,the lack of flexibility in system control methods,the generally low intelligence levels,and the inefficient energy utilization.Finally,the prospects for biomimetic amphibious robots are explored from scientific and engineering perspectives.The critical role of biological and material sciences in the development of biomimetic amphibious robots is highlighted.The paper suggests that biomimetic amphibious robots can be developed in conjunction with technologies such as large language models,swarm intelligence,and data-driven design,along with optimizing morphological design and actuation distribution,which will collectively advance their adaptability,autonomy,and intelligence.

关 键 词：多栖机器人 仿生学 形态学设计 生物激励 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]