水陆两栖仿生机器人构形、 运动机理及建模控制综述

The recent research status of amphibious robots is summarized from the aspects of body configuration, propulsion dynamics modeling, and multi-environment motion control. Amphibious robots are categorized according to their actuating mechanisms, including leg propulsion, wheel-leg/fin hybrid propulsion, serpentine propulsion, spherical propulsion. The dynamic modeling method of amphibious robot propelling in water and land environments is introduced, as well as the multi-environment motion control strategy commonly used in amphibious robots. The key technologies and future development directions of amphibious robots are summarized, including new propulsion mechanism design, system modeling, propulsion mechanism research, and multi-modal autonomous control technology.