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摘要: 陆空多模态机器人在灾害救援、特种巡检、外星探索等方面展现出重要的应用潜力, 具有环境适应性强、续航时间长、任务连续性好等优势, 其运动过程涵盖地面移动、起飞、飞行与着陆等多个运动环节. 各运动模态下的精准运动控制及不同模态间的稳定转换, 是保障陆空多模态机器人高效、可靠执行探测与救援等任务的关键. 本文系统总结国内外陆空多模态机器人的近期研究, 阐述不同类型机器人的构型特点、驱动方式及运动机理. 在此基础上, 重点分析其在复杂地形下的障碍感知与稳定移动、非结构化环境中的自主稳定起飞、气流扰动下的稳定飞行与轨迹保持以及地面效应与触地冲击下的缓冲着陆等关键技术. 最后, 阐述陆空多模态机器人自主化智能化运动面临的挑战及发展趋势.Abstract: Terrestrial-aerial multimodal robots demonstrate significant application potential in disaster rescue, special-purpose inspection, and extraterrestrial exploration, with the advantages of strong environmental adaptability, long operational endurance, and high task continuity. Their motion process can be divided into multiple phases, such as ground locomotion, takeoff, flight, and landing. Precise motion control under each locomotion modality and stable transitions between different modalities are key to ensure that terrestrial-aerial multimodal robots can efficiently and reliably perform tasks such as exploration and rescue. This paper systematically reviews recent research on terrestrial-aerial multimodal robots at home and abroad, focusing on their configuration characteristics, actuation modes, and locomotion principles. On this basis, key technologies are analyzed in depth, including obstacle perception and stable locomotion in complex terrains, autonomous and stable takeoff in unstructured environments, stable flight and trajectory maintenance under airflow disturbances, and impact-buffered landing under ground effects and touchdown conditions. Finally, the major challenges and emerging trends toward autonomous and intelligent motion for terrestrial-aerial multimodal robots are elaborated.
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图 9 非结构化环境下的障碍感知与场景理解
Fig. 9 Obstacle perception and scene understanding in unstructured environments
图 10 陆空多模态机器人陆地移动控制
Fig. 10 Land motion control of terrestrial-aerial multimodal robots
图 13 地面效应对陆空多模态机器人的影响
Fig. 13 Impact of ground effect on terrestrial-aerial multimodal robots
图 14 陆空多模态机器人着陆阶段缓冲设计
Fig. 14 Buffer design for landing stage of terrestrial-aerial multimodal robots
图 15 陆空多模态机器人挑战及发展方向
Fig. 15 Challenges and development direction of terrestrial-aerial multimodal robots
表 1 结构叠加式陆空多模态机器人分类及研究现状
Table 1 Classification and research status of superimposed-structure terrestrial-aerial multimodal robots
类别 优势 限制 运动特点 轮式 被动轮式 结构简单、轻量化、能耗低 控制精度低、机动性差 依赖旋翼推力分量驱动轮体滚动 主动轮式 机动性强、控制精度高 结构复杂、质量增加 轮组独立驱动, 可实现精确地面运动 笼式 圆柱形笼式 抗碰撞能力强 感知遮挡 旋翼推力驱动圆柱形笼实现地面滚动 环形笼式 结构轻质、可穿越狭窄环境 刚度有限、承载能力低 旋翼推力驱动环形笼实现地面滚动 球形笼式 运动解耦、抗冲击能力强 机构复杂、感知受限 外球壳滚动、内部飞行器姿态独立, 陆空运动解耦 足式 双足式 灵活性高、可执行精细操作 能耗高 可模拟人类步态, 完成攀爬、跨越等复杂动作 多足式 稳定性高、越障能力强 控制复杂 具备多点支撑结构, 可适应复杂地形 
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表 2 形态变构式陆空多模态机器人分类及研究现状
Table 2 Classification and research status of morphing terrestrial-aerial multimodal robots
类别 变形方式 优势 限制 翼变形式 机翼被动变形 模态转换连续性好、结构轻量化、气动稳定性较高 变形可控性有限、环境适应性受限 机翼主动变形 功能复用度高、结构集成度高、变形可控性好 机翼易受环境损伤、结构耐久性不足 体变形式 旋翼折展 结构紧凑、模态转换效率高 折展机构易疲劳、长期可靠性不足 腿部伸展 空间适应性强、具备壁面运动能力 机构复杂、控制耦合度高 多自由度变形 形态灵活、运动模态丰富、环境适应性强 控制复杂、系统能耗较高 柔性变形 柔顺性好、可穿越狭窄空间 控制精度有限、承载能力有限
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表 3 组合分离式陆空多模态机器人分类及研究现状
Table 3 Classification and research status of composite separated terrestrial-aerial multimodal robots
分类 组合方式 组合体控制 优势 限制 对接方式 异构组合分离式 飞行机器人与地面机器人组合而成 飞行机器人主导, 地面机器人
被动的主从控制快速部署、
作业范围大载荷有限、
续航时间短被动磁对接 螺旋自旋对接机构对接 地面机器人主导, 飞行机器人
被动的主从控制强承载力 地面机动性限制 固定收纳结构与伸缩连接机构 同构组合分离式 多个相同的机器人组成 群体协同控制 形态灵活、
适应性强成本高、
能源管理复杂永久电磁铁对接
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表 4 复杂地形下的障碍感知与稳定移动相关研究
Table 4 Research on obstacle perception and stable locomotion over complex terrains
运动环节 关键问题 技术内容 主要方法 陆地移动 非结构化环境中的障碍感知与场景理解 在地形多变、遮挡严重、噪声干扰强的条件下, 通过多传感器融合与深度学习, 实现对环境的全面感知、语义理解与精确建模 多源异构传感器轻量级融合[67]
多传感器SLAM与紧耦合滤波[68]
基于CNN的特征提取与可通行性评估[69]
双分支神经网络结构[70]
基于YOLOv4的语义感知与三维目标定位[71]复杂地形下的稳定移动控制 针对复杂地形下支撑面刚度、摩擦等参数时变且难以精确建模的问题, 融合模型驱动与数据驱动方法, 提高控制系统的稳定性、自适应性与鲁棒性 比例−积分−微分控制 + 线性化动态反馈[73]
接触隐式模型预测控制结合在线残差学习[74]
结合神经网络的数据驱动控制[76−77]
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表 5 非结构化环境中的自主稳定起飞相关研究
Table 5 Research on autonomous and stable takeoff in unstructured environments
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表 6 气流扰动下的稳定飞行与轨迹保持相关研究
Table 6 Research on stable flight and trajectory keeping under airflow disturbances
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表 7 地面效应与触地冲击下的缓冲着陆相关研究
Table 7 Research on buffered landing under ground effect and touchdown impact
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