自动化学报2026，Vol.52Issue(5)：909-931,23.DOI:10.16383/j.aas.c250681
陆空多模态机器人技术研究现状及展望
Research Status and Prospects of Terrestrial-aerial Multimodal Robots
摘要
Abstract
Terrestrial-aerial multimodal robots demonstrate significant application potential in disaster rescue,spe-cial-purpose inspection,and extraterrestrial exploration,with the advantages of strong environmental adaptability,long operational endurance,and high task continuity.Their motion process can be divided into multiple phases,such as ground locomotion,takeoff,flight,and landing.Precise motion control under each modality and stable transitions between different modalities are key to ensuring that terrestrial-aerial multimodal robots can efficiently and reliably perform tasks such as exploration and rescue.This paper systematically reviews recent research on ter-restrial-aerial multimodal robots at home and abroad,focusing on their configuration characteristics,actuation modes,and motion principles.On this basis,key technologies are analyzed in depth,including obstacle perception and stable locomotion over complex terrains,autonomous and stable takeoff in unstructured environments,stable flight and trajectory maintenance under airflow disturbances,and buffered landing under ground effect and touch-down impact.Finally,the challenges and emerging trends toward autonomous and intelligent motion for terrestrial-aerial multimodal robots are elaborated.关键词
陆空多模态机器人/障碍感知/稳定控制/跨域运动Key words
terrestrial-aerial multimodal robots/obstacle perception/stable control/cross-domain motion引用本文复制引用
李欣茹,王家添,陈一同,金艺畅,丁希仑,张容静,王成才..陆空多模态机器人技术研究现状及展望[J].自动化学报,2026,52(5):909-931,23.基金项目
多栖平台驱动系统全国重点实验室开放基金,国家自然科学基金(52405003),北京市科技新星计划,中央高校基本科研业务费,中央高校青年教师科研创新能力支持项目(ZY2025140)资助 Supported by Open Fund of the National Key Laboratory of Multi-Modal Vehicle Propulsion Systems,National Natural Sci-ence Foundation of China(52405003),Beijing Nova Program,Fundamental Research Funds for the Central Universities,and Scientific Research Innovation Capability Support Project for Young Faculty of Central Universities(ZY2025140) （52405003）
