梳理足式机器人在动态环境中的运动挑战与解决方案
A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
- 分析非惯性环境下足式机器人运动建模与控制方法
- 指出地面移动导致性能下降的核心原因及现有技术局限
- 适合研究机器人动态适应与自主导航的学者参考
足式机器人在刚性固定地面上表现出色，但在地面移动、倾斜或加速的非惯性环境中，其运动可靠性显著下降。这类环境常见于陆上运输、海上平台和航空航天场景，引入持续时变干扰，破坏传统足式运动对静止地面的假设。本文综述了非惯性环境下足式机器人的建模、状态估计与控制研究现状，总结代表性应用场景与运动特征，分析运动性能退化的根源，回顾现有方法及其关键假设与局限。进一步识别出机器人-环境耦合、可观测性、鲁棒性与实验验证等方面的开放问题，并探讨自主性、系统级设计、仿生策略、安全性与测试等未来方向。旨在厘清该新兴领域的技术基础，推动真实动态环境中可靠足式机器人的发展。
原文摘要 · Abstract (English)
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise in ground transportation, maritime platforms, and aerospace settings, and they introduce persistent time-varying disturbances that break the stationary-ground assumptions underlying conventional legged locomotion. This survey reviews the state of the art in modeling, state estimation, and control for legged robots in non-inertial environments. We summarize representative application domains and motion characteristics, analyze the root causes of locomotion performance degradation, and review existing methods together with their key assumptions and limitations. We further identify open problems in robot-environment coupling, observability, robustness, and experimental validation, and discuss future directions in autonomy, system-level design, bio-inspired strategies, safety, and testing. The survey aims to clarify the technical foundations of this emerging area and support the development of reliable legged robots for real-world dynamic environments.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。