自动化学报2026，Vol.52Issue(5)：882-908,27.DOI:10.16383/j.aas.c250507
水陆两栖跨介质仿生机器人研究进展
Research Advances in Amphibious Cross-medium Bionic Robots
摘要
Abstract
Amphibious robots,capable of cross-medium locomotion,exhibit considerable potential and prospects in applications such as inspection,reconnaissance,and ecological monitoring.Drawing inspiration from the morpholo-gical structure and locomotion strategies of amphibious animals,bionics provides essential design principles for en-hancing environmental adaptability and maneuverability of robots.This paper first presents a systematic review of representative amphibious organisms with diverse morphological characteristics and elucidates the bidirectional in-teraction between propulsion mechanisms and robotic design.Subsequently,using propulsion strategy as the primary classification criterion,existing amphibious robots are categorized into two main types.The first type util-izes unified actuation with single propulsion mechanisms,including fin propulsion,rigid limb propulsion,flexible limb propulsion,and continuous body wave propulsion.The second type adopts hybrid propulsion mechanisms that employ distinct actuation modes.Representative prototypes of bionic amphibious robots for each category are intro-duced,followed by an analysis of their adaptability and efficacy across different media.Furthermore,the current de-velopment state of key enabling technologies,including perception,actuation,and control,is comprehensively re-viewed,and the commonalities and differences of control strategies under different propulsion modes are compared.Finally,by incorporating emerging concepts such as cross-medium multi-scenario locomotion,embodied intelligence,and physical intelligence,this paper discusses future research directions and potential application prospects for bion-ic amphibious robots.关键词
水陆两栖机器人/跨介质运动/仿生机器人/推进策略Key words
amphibious robots/cross-medium locomotion/bionic robot/propulsion strategy引用本文复制引用
秦博扬,李磊,孔诗涵,喻俊志..水陆两栖跨介质仿生机器人研究进展[J].自动化学报,2026,52(5):882-908,27.基金项目
国家自然科学基金(62233001,T2121002,62473236,62403013),北京市科技新星计划交叉合作课题(20240484499),国家资助博士后研究人员计划(BX20240010),中国博士后科学基金(2024M760112)资助 Supported by National Natural Science Foundation of China(62233001,T2121002,62473236,62403013),Beijing Nova Pro-gram(20240484499),Postdoctoral Fellowship Program and China Postdoctoral Science Foundation(BX20240010),and China Postdoctoral Science Foundation(2024M760112) （62233001,T2121002,62473236,62403013）
