构建具身智能新范式：人形机器人技术现状及发展趋势综述

doi:10.3901/JME.2025.15.121

机械工程学报 ›› 2025, Vol. 61 ›› Issue (15): 121-147.doi: 10.3901/JME.2025.15.121

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构建具身智能新范式：人形机器人技术现状及发展趋势综述

陶永¹, 万嘉昊¹, 王田苗¹, 熊友军², 王柏村³, 张文博⁴, 邓昌义⁵, 陶雨¹, 杨赓³, 魏洪兴¹

1. 北京航空航天大学机械工程及自动化学院北京 100191;
2. 国家地方共建具身智能机器人创新中心北京 100176;
3. 浙江大学机械工程学院杭州 310058;
4. 中国国际工程咨询有限公司北京 100006;
5. 国家工业信息安全发展研究中心北京 100040

收稿日期:2024-10-31 修回日期:2024-12-26 发布日期:2025-09-28
作者简介:陶永，男，1979年出生，博士，副教授，博士研究生导师。主要研究方向为智能机器人控制与集成应用、嵌入式机电一体化控制、航空智能制造等。E-mail：taoy@buaa.edu.cn;万嘉昊，男，1999年出生，博士研究生。主要研究方向为机器人人机交互控制技术、双臂机器人控制等。E-mail：zb2307118@buaa.edu.cn;王田苗，男，1960年出生，博士，教授，博士研究生导师。主要研究方向为先进机器人理论与技术，仿生结构、医疗机器人、服务机器人等。E-mail：itm@buaa.edu.cn;熊友军，男，1978年出生，博士。主要研究方向为人形机器人核心技术开发、机器人遥操作等。E-mail：rick@x-humanoid.com;王柏村，男，1990年出生，博士，研究员，博士研究生导师。主要研究方向为人-信息-物理系统、智能制造、系统优化与管理等。E-mail：baicunw@zju.edu.cn;张文博，男，1986年出生，硕士，高级工程师。主要研究方向为机器人、智能制造、基础软件等产业政策及关键技术研究。E-mail：zwb@ciecc.com.cn;邓昌义，男，1989年出生，高级工程师。主要研究方向智能机器人、嵌入式工业软件、工业操作系统等。E-mail：dengchangyi@sict.ac.cn;陶雨，男，2001年出生，硕士研究生。主要研究方向为机器人自适应抓取与具身技能模型等。E-mail：taoyuty2020@163.com;杨赓，男，1980年出生，博士，研究员，博士研究生导师。主要研究方向为人-信息-物理系统、柔性电子、人机交互等。E-mail：yanggeng@zju.edu.cn;魏洪兴(通信作者)，男，1974年出生，博士，教授，博士研究生导师。主要研究方向为机器人模块化技术、嵌入式技术、机器人操作系统等。E-mail：weihongxing@buaa.edu.cn
基金资助:
国家自然科学基金资助项目(52375005)。

Establishing a New Paradigm of Embodied Intelligence: A Review of the Current Status and Development Trends in Humanoid Robot Technology

TAO Yong¹, WAN Jiahao¹, WANG Tianmiao¹, XIONG Youjun², WANG Baicun³, ZHANG Wenbo⁴, DENG Changyi⁵, TAO Yu¹, YANG Geng³, WEI Hongxing¹

1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191;
2. Beijing Embodied Intelligent Robot Innovation Center Co., Ltd., Beijing 100176;
3. School of Mechanical Engineering, Zhejiang University, Hangzhou 310058;
4. China International Engineering Consulting Corporation, Beijing 100006;
5. National Industrial Information Security Development Research Center, Beijing 100040

Received:2024-10-31 Revised:2024-12-26 Published:2025-09-28

摘要/Abstract

摘要： 当前人形机器人技术正在加速演进，已成为全球科技创新与产业升级的新高地。在“人本智造”理念下，人形机器人作为具身智能的重要代表，具有广阔的发展前景。针对人形机器人技术多学科交叉、体系复杂与高度集成的特点，结合该领域的最新研究成果与发展动态，综述人形机器人的技术现状及发展趋势。首先，介绍人形机器人的定义与发展历程，从技术水平、产业格局、政策支持等方面描述国内外现状，对比总结典型技术发展特征与产品特色。重点剖析了核心零部件、环境感知与场景理解、步态控制与灵巧操作、具身智能与大模型、人机共融与交互、操作系统与工具链等关键核心技术，讨论其实现途径与当前研究进展。进而，介绍人形机器人在特殊服役环境、智能制造、家庭及社会服务等领域的典型应用，并探讨其在新兴应用领域的拓展潜力。进一步，围绕技术瓶颈和应用难题，分析当前人形机器人发展面临的主要挑战。最后，针对以人形机器人为代表的具身智能在多模态垂直大模型、高算力仿真训练平台以及安全与伦理等方面的发展趋势进行了展望。希望在总结把握人形机器人前沿技术发展动态的同时，为相关研究人士提供参考与启发，助力推动我国人形机器人技术进步与产业化发展。

关键词: 人形机器人, 关键技术, 灵巧操作, 具身智能, 大模型, 人机共融, 仿真训练平台

Abstract: The technology of humanoid robots is currently evolving rapidly, becoming a new focal point for global technological innovation and industrial upgrading. As an important representative of embodied intelligence, humanoid robots possess vast development potential and application prospects. Based on the multidisciplinary intersections, complex systems, and high levels of integration inherent in humanoid robot technology, this review synthesizes the latest research achievements and industry developments in this field, focusing on the current technological status and development trends of humanoid robots. First, the definition and developmental history of humanoid robots are introduced, describing the current status of development in both foreign and domestic contexts from the perspectives of technological level, industrial landscape, and policy support. A comparison and summary of the typical technological development characteristics and product features between domestic and international advancements are provided. Key core technologies are analyzed in detail, including critical components, environmental perception and scene understanding, gait control and dexterous manipulation, embodied intelligence and large models, human-robot collaboration and interaction, as well as operating systems and toolchains. The implementation pathways and current research progress of these technologies are discussed. Furthermore, typical applications of humanoid robots in specialized service environments, intelligent manufacturing, and household and social services are presented, exploring their expansion potential in emerging application areas. The main challenges faced by humanoid robot development are analyzed, focusing on technological bottlenecks and application difficulties. Finally, based on the development status of technologies and applications, an outlook on the trends in embodied intelligence represented by humanoid robots is provided, particularly in areas such as multimodal vertical large models, high-performance simulation training platforms, and safety and ethics. This review aims to summarize and grasp the dynamics of cutting-edge technological developments in humanoid robots domestically and internationally, while offering insights and references for those engaged in the research and development of humanoid robot technologies and products, thus contributing to the advancement and industrialization of humanoid robot technology in China.

Key words: humanoid robot, key technologies, dexterous manipulation, embodied intelligence, large model, human-robot collaboration, simulation training platform

中图分类号:

TP242

陶永, 万嘉昊, 王田苗, 熊友军, 王柏村, 张文博, 邓昌义, 陶雨, 杨赓, 魏洪兴. 构建具身智能新范式：人形机器人技术现状及发展趋势综述[J]. 机械工程学报, 2025, 61(15): 121-147.

TAO Yong, WAN Jiahao, WANG Tianmiao, XIONG Youjun, WANG Baicun, ZHANG Wenbo, DENG Changyi, TAO Yu, YANG Geng, WEI Hongxing. Establishing a New Paradigm of Embodied Intelligence: A Review of the Current Status and Development Trends in Humanoid Robot Technology[J]. Journal of Mechanical Engineering, 2025, 61(15): 121-147.

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构建具身智能新范式：人形机器人技术现状及发展趋势综述

Establishing a New Paradigm of Embodied Intelligence: A Review of the Current Status and Development Trends in Humanoid Robot Technology

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