可跳跃移动机器人机构设计与跳跃过程控制研究综述

doi:10.3901/JME.2024.15.001

摘要/Abstract

摘要： 近年来，结合传统轮式、腿式运动与跳跃运动的移动机器人受到了研究学者的广泛关注，它们在非结构地形中的优势使其在应急救援、野外巡查、地下勘探等方面有着广阔的应用前景。对目前出现的轮式跳跃机器人、轮腿跳跃机器人、球形跳跃机器人等新型移动机器人的研究现状进行了较为详细地介绍，从其机构设计与跳跃控制等方面进行了比较分析。在机构设计部分，分析了近年来轮式、轮腿式、球形跳跃机器人的跳跃机构设计特点，对其结构设计特点进行了对比总结；在跳跃控制方法部分，回顾了可跳跃移动机器人的空中姿态控制方法及落地缓冲控制方法。最后从可跳跃移动机器人的结构、储能、智能控制等方面，对其未来的发展方向与技术趋势进行了讨论和展望。

关键词: 移动机器人, 跳跃控制, 跳跃机构

Abstract: In recent years, mobile robots that combine traditional wheeled, legged, and jumping movements have received widespread attention from researchers. Their advantages in unstructured terrain make them have broad application prospects in emergency rescue, field inspections, underground exploration, and other fields. The current research status of new mobile robots such as wheeled jumping robots, wheeled leg jumping robots, and spherical jumping robots are all introduced in detail in the paper, and a comparative analysis also is conducted from their mechanism design and jumping control aspects. In terms of mechanism design, it analyzes the jumping mechanism design characteristics of wheeled, wheeled leg, and spherical jumping robots in recent years, and summarizes their structural design characteristics. In the section of jump control methods, the aerial attitude control methods and landing buffering control methods of jumping mobile robots were reviewed. Finally, from the aspects of structure, energy storage, intelligent control and so on, the future development direction and trend of jumping mobile robot are discussed and prospected.

Key words: mobile robots, jump control, jumping mechanism

中图分类号:

TP242

宋荆洲, 宫兴龙, 段嘉辰, 张腾飞. 可跳跃移动机器人机构设计与跳跃过程控制研究综述[J]. 机械工程学报, 2024, 60(15): 1-17.

SONG Jingzhou, GONG Xinglong, DUAN Jiachen, ZHANG Tengfei. Review on Mechanism Design and Jumping Process Control of Jumpable Mobile Robots[J]. Journal of Mechanical Engineering, 2024, 60(15): 1-17.

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