机器人2025，Vol.47Issue(6)：844-866,23.DOI:10.13973/j.cnki.robot.240304
面向星表探测的球形机器人研究进展
Research Progress of Spherical Robot for Planet Surface Exploration
摘要
Abstract
Spherical robots have great potential in deep space exploration tasks such as surface exploration on planets.In this paper,the configuration of spherical robot is introduced firstly from the structure characteristics of spherical shell.Then,the driving modes of spherical robot are divided into 4 categories:rolling drive,jumping drive,flying drive and hybrid drive.The specific driving methods and principles of each driving method are introduced and summarized.Then,the key technologies of spherical robots are introduced to provide reference for their application to surface exploration on planets.Finally,the research progress of spherical robots for surface exploration on planets is summarized,and the future trends are prospected.关键词
球形机器人/星表探测/结构设计/驱动方式/控制算法Key words
spherical robot/planet surface exploration/structure design/driving mode/control algorithm引用本文复制引用
金禹锟,郑重,杨飞,岳洪浩,陆一凡..面向星表探测的球形机器人研究进展[J].机器人,2025,47(6):844-866,23.基金项目
国家自然科学基金(T2388101). （T2388101）
