机器人2025，Vol.47Issue(6)：817-843,27.DOI:10.13973/j.cnki.robot.250060
面向地外复杂地形的足式星球探测机器人综述
A Review of Legged Robots for Planetary Exploration in Complex Extraterrestrial Terrain
摘要
Abstract
With the continuous expansion of deep-space exploration missions,the complex terrain of extraterrestrial plan-ets poses higher demands on exploration robots.Legged robots,with outstanding terrain adaptability and mobility,become a research hotspot in the field of planetary exploration.The current state of legged planetary robots designed for challenging extraterrestrial terrains and environments are summarized.The design requirements of"one machine with multiple capabil-ities",the adaptability and reliability in complex star catalog environments,energy supply and management,environmental perception and modeling,and other challenges are analyzed,with focus on the key technological research progress in mecha-nism and mechanical design methods,coordinated control methods,and perception and positioning methods of these robots.The advantages and disadvantages of different configurations and methods,as well as their problems in actual exploration missions are discussed,and future research directions and application prospects are explored,in order to provide a valuable reference for further development in the field of planetary exploration robotics.关键词
足式机器人/攀爬机器人/星球探测机器人/空间机器人/强化学习/本体感知Key words
legged robot/climbing robot/planetary robot/space robot/reinforcement learning/proprioception引用本文复制引用
訾佩锦,栗琪凯,秦日鹏,陈佳伟,张涛,徐坤,丁希仑..面向地外复杂地形的足式星球探测机器人综述[J].机器人,2025,47(6):817-843,27.基金项目
国家重点研发计划(2023YFB4704305) （2023YFB4704305）
国家自然科学基金(52375003,52405002) （52375003,52405002）
中国博士后科学基金(2024M764078). （2024M764078）
