轮足复合式移动机器人结构、控制与仿真研究综述

doi:10.3901/JME.260453

摘要/Abstract

摘要： 轮足复合式移动机器人因其独特的腿部结构和优越的越障性能，在军事、巡检和农业等领域都有广泛的应用前景。轮足混合式机器人兼具轮式和腿式机器人优点，能够灵活地应对各种复杂的地形和任务。由于受结构特性、驱动控制及硬件实现等多方面限制，提升轮足混合式机器人的移动速度和越障能力是目前亟待解决的问题之一。综述从仿生结构设计、运动控制以及物理仿真引擎以等多角度对轮足混合式移动机器人的研究进展进行了系统阐述。枚举了目前国内外多种轮足式机器人的应用场合，梳理了轮足式机器人的主要结构特性，总结了轮足式机器人建模与控制方法，进一步将其拓展到轮足式机器人的系统建模中。介绍了传统的商业软件的应用与物理仿真引擎的开发进展，分析了多种适用于轮足式机器人的物理仿真引擎，阐述了不同物理仿真引擎优缺点。描述了轮足式机器人发展存在的问题，展望了轮足式机器人的应用场景与未来研究方向。

关键词: 轮足复合式机器人, 结构设计, 运动控制算法, 物理仿真引擎

Abstract: Wheel foot composite mobile robots have broad application prospects in military, inspection, and agricultural fields due to their unique leg structure and superior obstacle crossing performance. The wheel foot hybrid robot combines the advantages of both wheeled and legged robots, and can flexibly cope with various complex terrains and tasks. Due to various limitations such as structural characteristics, drive control, and hardware implementation, improving the movement speed and obstacle crossing ability of wheel foot hybrid robots is currently one of the urgent problems to be solved. This review systematically elaborates on the research progress of wheel foot hybrid mobile robots from multiple perspectives, including biomimetic structure design, motion control, and physical simulation engines. The application scenarios of various wheeled legged robots at home and abroad were enumerated, and the main structural characteristics of wheeled legged robots were summarized. The modeling and control methods of wheeled legged robots were summarized, and further extended to the system modeling of wheeled legged robots. This research introduces the application of traditional commercial software and the development progress of physical simulation engines, analyzes various physical simulation engines suitable for wheeled robots, and elaborates on the advantages and disadvantages of different physical simulation engines. Described the problems in the development of wheeled robots, and looked forward to the application scenarios and future research directions of wheeled robots.

Key words: wheel foot composite mobile robots, structure design, motion control algorithm, physics simulation engine

中图分类号:

TP242
TH112

陈久朋, 罗缨栾, 伞红军, 李春磊, 张帆. 轮足复合式移动机器人结构、控制与仿真研究综述[J]. 机械工程学报, 2026, 62(15): 291-323.

CHEN Jiupeng, LUO Yingluan, SAN Hongjun, LI Chunlei, ZHANG Fan. Review of Structure, Control, and Simulation Research on Wheel Foot Composite Mobile Robots[J]. Journal of Mechanical Engineering, 2026, 62(15): 291-323.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260453

http://www.cjmenet.com.cn/CN/Y2026/V62/I15/291

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