机电工程技术2025，Vol.54Issue(13)：1-7,53,8.DOI:10.3969/j.issn.1009-9492.2025.13.001
轮腿式跳跃机器人综述
A Review of Wheel-legged Jumping Robots
摘要
Abstract
Wheel-legged robots receive wide application in the field of industrial engineering due to its strong adaptability and mobility.To promote the continuous development of bionic jumping robots,and to promote the theoretical research and engineering applications of foot-heeled robots,key technologies are reviewed,jumping mechanism is systematic put forward,including gait planning,path scheduling,motion control,balance and stability strategies,comprehensively on monopods,bipedal wheeled,quadrupedal wheels of the popular types and features.The appearance and characteristics of typical jumping robots at home and abroad are introduced,their key technologies,such as perception system,motion planning,control system,balance and stability,and structural design are elucidated,motion planning is divided into gait planning and path planning,and the environment map is simulated to state types of displayed map,global and local path algorithms are introduced,and the motion gaits of the robots are given a detailed categorization,and establish the motion control framework based on MPC.At present,there have been substantial progress in the optimization of control systems and the diversification of mechanical structures,especially in the field of intelligence.For instance,a series of breakthroughs in the research and application of artificial intelligence technologies by OpenAI and deepseek have brought bipedal robots to a new height.However,the multi-pose movement of bipedal robots still faces significant difficulties and challenges.In addition,typical application scenarios of foot-wheeled robots are discussed,the challenges are evaluated in their development,and proposes potential avenues for future research.关键词
轮腿机器人/多足机器人/运动控制/路径规划Key words
wheel-legged robot/multi-legged robot/motion control/path planning分类
信息技术与安全科学引用本文复制引用
熊勇刚,李城炫,李波..轮腿式跳跃机器人综述[J].机电工程技术,2025,54(13):1-7,53,8.基金项目
湖南省自然科学基金(2022JJ50078) （2022JJ50078）
教育部创新基金(2021JQR206) （2021JQR206）
