微小型跳跃机器人研究现状综述

doi:10.3901/JME.2019.15.109

机械工程学报 ›› 2019, Vol. 55 ›› Issue (15): 109-123.doi: 10.3901/JME.2019.15.109

微小型跳跃机器人研究现状综述

莫小娟¹, 葛文杰¹, 赵东来¹, 魏敦文²

1. 西北工业大学机电学院西安 710072;
2. 电子科技大学机械与电气工程学院成都 611731

收稿日期:2018-07-19 修回日期:2018-11-12 出版日期:2019-08-05 发布日期:2019-08-05
通讯作者: 葛文杰(通信作者),男,1956年出生,博士,教授,博士研究生导师。主要研究方向为仿生跳跃机器人以及柔性机翼拓扑优化。E-mail:gwj@nwpu.edu.cn
作者简介:莫小娟,女,1992年出生,博士研究生。主要研究方向为蝗虫跳跃机理和仿生跳跃机器人。E-mail:momo152562@mail.nwpu.edu.cn;赵东来,男,1989年出生,博士研究生。主要研究方向为液压驱动跳跃机器人和爬壁机器人。E-mail:dl_zhao@mail.nwpu.edu.cn;魏敦文,男,1986年出生,博士,讲师。主要研究方向仿生机器人,机器人机构学及控制。E-mail:weidunwen@uestc.edu.cn
基金资助:
国家重点研发计划（2017YFB1300101）、国家自然科学基金（51705066）和中央高校基本科研业务费（ZYGX2016KYQD137）资助项目。

Review: Research Status of Miniature Jumping Robot

MO Xiaojuan¹, GE Wenjie¹, ZHAO Donglai¹, WEI Dunwen²

1. School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072;
2. School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731

Received:2018-07-19 Revised:2018-11-12 Online:2019-08-05 Published:2019-08-05

摘要/Abstract

摘要： 自然界的动物借助跳跃运动能够跨越数倍身体尺寸的障碍物，从而增强其越障能力和环境适应能力。动物跳跃运动模式主要包含以大型动物如袋鼠等采取的连续型跳跃，和各种小型动物如昆虫和青蛙等采取的间歇式跳跃。结合国内外微小型跳跃机器人的研究现状，将跳跃机器人分为非仿生跳跃机器人和仿生跳跃机器人，并对比现有机器人的跳跃性能，分析其在实现可控起跳、空中姿态调节和落地缓冲复位等方面采取的策略，最后展望了微小型跳跃机器人的发展趋势。

关键词: 仿生机器人, 跳跃机理, 跳跃运动, 微小型跳跃机器人

Abstract: Some animals can overcome obstacles that are several times of their own body sizes relying on jumping,which helps animals increase the ability of crossing obstacles and environmental adaption. Jumping locomotion can be divided into continuous jumping adopted by kangaroo and other big size animals, and non-continuous jumping which is adopted by small size animals, such as frogs and some insects. Miniature jumping robots are classified into non-bionic and bionic jumping robots. The jumping performance and adopted strategies on controllable takeoff, in-air posture adjustment, landing buffering and resetting of existed miniature jumping robots are compared, and the developmental trend of miniature jumping robots are predicted.

Key words: bionic robot, jumping, jumping mechanism, miniature jumping robots

中图分类号:

TG156

莫小娟, 葛文杰, 赵东来, 魏敦文. 微小型跳跃机器人研究现状综述[J]. 机械工程学报, 2019, 55(15): 109-123.

MO Xiaojuan, GE Wenjie, ZHAO Donglai, WEI Dunwen. Review: Research Status of Miniature Jumping Robot[J]. Journal of Mechanical Engineering, 2019, 55(15): 109-123.

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微小型跳跃机器人研究现状综述

Review: Research Status of Miniature Jumping Robot

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