跳跃机器人的研究现状与发展趋势

Study status and developing trend of hopping robots

由于受到动物和人类的跳跃运动的敏捷性的启发,在过去的几十年间,越来越多的国内外研究者开始研究跳跃运动并着手开发了各种各样的跳跃机器人。跳跃运动是一种高度非线性的并且由交替的飞行和着地阶段组成的动态运动,这给跳跃机器人的控制提出了很大的挑战。综述了国内外跳跃机器人的研究现状,对现有的跳跃机器人进行了分类,对跳跃机器人的驱动方式、动力学模型的建立和控制方法等方面进行了详细分析,提出了目前跳跃机器人研究的关键技术,最后指出了跳跃机器人的发展趋势。

Inspired by the agility of animal and human locomotion,more and more researchers have been involved in studying hopping motion and developing various hopping robots over the last decades.Hopping motion is a highly nonlinear dynamical behavior consisting of alternating fight and stance phases,which presents challenging control problems.It summarizes the current research status domestic and oversea with respect to hopping robots,sorts the exiting jumping robot and analyses the research approaches in terms of the drive modes,dynamics model analysis and control methods of hopping robots.To conclude,the key technology is stated and the future development of hopping robots is discussed in it.