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摘要: 水陆两栖机器人凭借其跨介质运动能力, 在巡检、侦察、生态监测等多个领域展现出广阔的应用前景. 仿生学通过借鉴水陆两栖动物的形态结构与运动策略, 为提升机器人的环境适应性与运动机动性提供重要的设计思路. 首先, 系统梳理具有不同形态特征的典型水陆两栖生物, 并阐明其推进机制对机器人设计所产生的双向促进作用. 其次, 以推进策略为主线, 将现有两栖机器人划分为采用统一驱动的单一推进机制(包括鳍推进、刚性肢体推进、柔性肢体推进及连续体波推进)以及采用不同驱动方式的混合推进机制, 分别介绍各类代表性仿生两栖机器人原型样机, 并分析各种推进方式在不同介质的适应性变化及效能. 随后, 总结感知、驱动与控制等关键技术的当前发展状况, 比较不同推进模式下控制策略的共性与差异. 最后, 结合跨介质多场景运动、具身智能及物理智能等前沿理念, 探讨水陆两栖仿生机器人未来的研究方向与应用前景.Abstract: Amphibious robots, capable of cross-media locomotion, exhibit considerable potential and prospects in applications such as inspection, reconnaissance, and ecological monitoring. Drawing inspiration from the morphological structure and locomotion strategies of amphibious animals, bionics provides essential design principles for enhancing environmental adaptability and maneuverability of robots. This paper first presents a systematic review of representative amphibious organisms with diverse morphological characteristics and elucidates the bidirectional interaction between propulsion mechanisms and robotic design. Subsequently, using propulsion strategy as the primary classification criterion, existing amphibious robots are categorized into two main types. The first type utilizes unified actuation with single propulsion mechanisms, including fin propulsion, rigid limb propulsion, flexible limb propulsion, and continuous body wave propulsion. The second type adopts hybrid propulsion mechanisms that employ distinct actuation modes. Representative prototypes of bionic amphibious robots for each category are introduced, followed by an analysis of their adaptability and efficacy across different media. Furthermore, the current state of key enabling technologies, including perception, actuation, and control, is comprehensively reviewed, and the commonalities and differences of control strategies under different propulsion modes are compared. Finally, by incorporating emerging concepts such as cross-medium multi-scenario locomotion, embodied intelligence, and physical intelligence, this paper discusses future research directions and potential application prospects for bionic amphibious robots.
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Key words:
- amphibious robots /
- cross-medium locomotion /
- bio-inspired robot /
- propulsion strategy
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图 2 鳗鲡类形态和运动图 ((a)鳗鱼肌肉解剖图; (b)海七鳃鳗、长吻雀鳝、水生骰蛇皮肤表面图; (c)鳗鲡游动运动学参数图解[12], 经许可转载自文献[12], ©Wiley, 2024)
Fig. 2 Schematic of morphology and locomotion in anguilliform organisms ((a)Anatomical diagram of eel musculature; (b)Skin surface topography of sea lamprey, longnose gar, and diamondback water snake; (c)Kinematic parameters of anguilliform swimming, reproduced with permission from reference [12], ©Wiley, 2024)
图 3 鳗形目动物游动过程中的流体—结构相互作用图[12] ((a)海蛇形态图; (b)压力阻力分析图; (c)摩擦阻力分析图, 经许可转载自文献[12], ©Wiley, 2024)
Fig. 3 Diagram of fluid-structure interaction during the swimming of anguilliformes ((a) Sea krait morphology diagram; (b) Pressure drag analysis diagram; (c) Frictional drag analysis diagram, reproduced with permission from reference [12], ©Wiley, 2024)
图 4 鳗鲡目形态与运动特性[15] ((a)鳗鱼尾迹; (b)七鳃鳗尾迹; (c)典型鳗形类CFD模型; (d)蛇类尾迹; (e)三维涡旋结构图, 经许可转载自文献[15], ©The Company of Biologists, 2023)
Fig. 4 Morphology and locomotion characteristics of anguilliformes ((a)Wake of eel tail; (b)Wake of lamprey; (c)Typical eel-shaped CFD model; (d) Wake of snake; (e) 3D vortex structure diagram, reproduced with permission from reference [15], ©The Company of Biologists, 2023)
图 6 斑纹伪龟及其CT扫描结构图[23] ((a)斑纹伪龟的前肢和后肢结构; (b) CT扫描肱骨和股骨图; (c)海龟前肢CT扫描图(从左至右): 侧视图、背腹视图、前视图, 经许可转载自文献[23], ©The Company of Biologists, 2019)
Fig. 6 Schematic of Pseudemys concinna and its CT scan structures ((a) Structural diagrams of forelimbs and hindlimbs in Pseudemys concinna; (b) CT scan images of humerus and femur; (c) CT scans of a sea turtle forelimb (from left to right): lateral, dorsoventral, and anterior views, reproduced with permission from reference [23], ©The Company of Biologists, 2019)
图 7 青蛙肌肉解剖及其模型图((a)青蛙背部骨骼和骨盆肌肉解剖[24], 经许可转载自文献[24], ©Wiley, 2024; (b)脚蹼伸展期形成推力与升力; (c)简化的青蛙后肢模型, 显示肌肉内杠、外杠、肌肉长度和脚踝角度)[25], 经许可转载自文献[25], ©Springer nature, 2013
Fig. 7 Illustrations of frog muscle anatomy and its model ((a) Anatomical illustration of the skeletal and pelvic musculature in the frog’s dorsal region, reproduced with permission from reference [24], ©Wiley, 2024; (b) Thrust and lift generation during webbed-foot extension; (c) Simplified frog hindlimb model showing muscle in-lever, out-lever, muscle length, and ankle angle, reproduced with permission from reference [25], ©Springer nature, 2013)
图 8 弹涂鱼运动策略及生物学特征图((a)成年弹涂鱼骨骼图[27], 经许可转载自文献[27], ©Springer nature, 2018; (b)弹涂鱼的磁感生物特征及运动策略[28], 经许可转载自文献[28], 遵循CC BY许可协议, 2024)
Fig. 8 Diagrams of locomotion strategies and biological characteristics of mudskippers ((a) Skeletal diagram of an adult mudskipper, reproduced with permission from reference [27], ©Springer nature, 2018; (b) Magnetoreceptive biological characteristics and locomotion strategies of mudskippers, reproduced with permission from reference [28], under the CC BY license, 2024.)
图 12 鳍推进类仿生两栖机器人 ((a)仿生鳐鱼机器人Velox; (b)AmphiRobot II—仿生鱼类两栖机器人[44]; (c)仿生蝠鲼两栖机器人[45]; (d)仿生海龟两栖母机器人[46]; (e) MiniTurtle-I仿生海龟机器人[47]; (f)自适应仿生两栖海龟[48], 经许可转载自文献[44]、[45]、[46]、[47]、[48], ©IEEE, 2009, ©Elsevier BV, 2024, ©Springer, 2017, ©Taylor & Francis Ltd., 2015, ©Springer nature, 2017)
Fig. 12 Fin-propelled bionic amphibious robots ((a) Velox, a bionic ray robot; (b) AmphiRobot II, a bionic fish amphibious robot; (c) Manta ray amphibious robot; (d) Turtle-like amphibious mother robot; (e) MiniTurtle-I, a bionic turtle robot; (f) Adaptive bionic amphibious turtle, reproduced with permission from reference [44]、[45]、[46]、[47]、[48], ©IEEE, 2009, ©Elsevier BV, 2024, ©Springer, 2017, ©Taylor & Francis Ltd., 2015, ©Springer nature, 2017))
图 13 刚体推进类两栖机器人 ((a)自主水下腿式仿生螃蟹机器人[4]; (b)CR200仿螃蟹机器人[49]; (c)腿-桨混合驱动仿生螃蟹机器人[50]; (d) FroBot仿生青蛙机器人[51]; (e) DE驱动仿生青蛙机器人[52]; (f)气动人工肌肉仿生青蛙机器人[53]; (g) SMA驱动仿生龙虾机器人[54]; (h)自主式两栖机器人[55]; (i) AmphiHex仿生螳螂两栖机器人[56], 经许可转载自文献[4]、[49]、[50]、[51]、[52]、[53]、[55]、[56], ©IEEE, 1996, ©Marine Technology Society, 2016, ©Elsevier, 2017, ©IEEE, 2015, ©IEEE, 2017, ©Springer, 2017, ©IEEE, 2005, ©IEEE, 2012)
Fig. 13 Rigid-body propulsion amphibious robots ((a)Autonomous underwater leg-driven bionic crab robot; (b)CR200 bionic crab robot; (c)Leg-paddle hybrid drive bionic crab robot; (d) FroBot bionic frog robot; (e) DE drive bionic frog robot; (f) Pneumatic artificial muscle bionic frog robot; (g) SMA drive bionic lobster robot; (h) Autonomous amphibious robot; (i) AmphiHex bionic mantis amphibious robot, reproduced with permission from reference [4]、[49]、[50]、[51]、[52]、[53]、[55]、[56], ©IEEE, 1996, ©Marine Technology Society, 2016, ©Elsevier, 2017, ©IEEE, 2015, ©IEEE, 2017, ©Springer, 2017, ©IEEE, 2005, ©IEEE, 2012)
图 14 柔性肢体推进两栖机器人 ((a)PoseiDRONE仿章鱼机器人[57]; (b)水动力学仿生章鱼机器人[58]; (c)八腕软体仿生章鱼机器人[59]; (d)仿生椰子章鱼机器人[60]; (e)仿生海胆机器人[61]; (f)仿生蜥蜴两栖机器人[62]; (g)仿生尺蠖机器人[63]; (h)气动两栖软机器人[64]; (i)电磁驱动机器人[65]; (j)SMA驱动机器人[66]; (k)仿海星机器人[6]; (l)仿犬机器人[67], 经许可转载自文献[57]、[58]、[59]、[60]、[61]、[62]、[63]、[64] [65]、[66]、[6]、[67], ©IEEE, 2013, ©IOP Publishing, 2015, ©IOP Publishing, 2015, ©IOP Publishing, 2021, ©IEEE, 2019, ©IEEE, 2017, ©IEEE, 2021, ©Mary Ann Liebert, Inc., 2018, ©IEEE, 2023, ©IEEE, 2020, ©IOP Publishing, 2016, ©IOP Publishing, 2019)
Fig. 14 Flexible limb-propelled amphibious robots Bionic octopus robots ((a) PoseiDRONE octopus robot; (b)hydrodynamic bio-inspired octopus robot; (c) eight-arm soft octopus robot; (d) bionic coconut octopus robot; (e) bio-inspired sea urchin robot; (f) bio-inspired lizard amphibious robot; (g) bio-inspired inchworm robot; (h) pneumatic amphibious soft robot; (i) electromagnetic-driven robot; (j) SMA-driven robot; (k) starfish-inspired robot; (l) dog-inspired robot, reproduced with permission from reference [57]、[58]、[59]、[60]、[61]、[62]、[63]、[64] [65]、[66]、[6]、[67], ©IEEE, 2013, ©IOP Publishing, 2015, ©IOP Publishing, 2015, ©IOP Publishing, 2021, ©IEEE, 2019, ©IEEE, 2017, ©IEEE, 2021, ©Mary Ann Liebert, Inc., 2018, ©IEEE, 2023, ©IEEE, 2020, ©IOP Publishing, 2016, ©IOP Publishing, 2019)
图 15 连续体波推进与混合推进两栖机器人 ((a)AmphiBot I仿生蛇型两栖机器人[68]; (b)极端环境探测仿蛇机器人[69]; (c)ACM-R5机器人[70]; (d)Salamandra robotica II机器人[71]; (e)Salamandra robotica I机器人[35]; (f)Pleurodeles waltl机器人[40]; (g)仿生鳄鱼机器人[72]; (h)两栖弹涂鱼机器人[73]; (i)光驱动仿生弹涂鱼[74]; (j)磁驱动仿生弹涂鱼[75], 经许可转载自文献[68]、[69]、[71]、[35]、[40]、[72]、[73]、[74]、[75], ©IEEE, 2007, ©AAAS, 2024, ©IEEE, 2013, ©AAAS, 2007, ©The Royal Society, 2016, ©John Wiley & Sons Inc., 2017, ©Elsevier, 2023, ©American Chemical Society, 2022, ©Mary Ann Liebert, Inc., 2024)
Fig. 15 Continuum-wave propulsion and hybrid-propulsion amphibious robots ((a) AmphiBot I bio-inspired snake robot; (b) extreme-environment snake-inspired robot; (c) ACM-R5 robot; (d) Salamandra robotica II robot; (e) Salamandra robotica I robot; (f) Pleurodeles waltl robot; (g) bio-inspired crocodile robot; (h) amphibious mudskipper robot; (i) light-driven bio-inspired mudskipper; (j) magnetic-driven bio-inspired mudskipper, reproduced with permission from reference [68]、[69]、[71]、[35]、[40]、[72]、[73]、[74]、[75], ©IEEE, 2007, ©AAAS, 2024, ©IEEE, 2013, ©AAAS, 2007, ©The Royal Society, 2016, ©John Wiley & Sons Inc., 2017, ©Elsevier, 2023, ©American Chemical Society, 2022, ©Mary Ann Liebert, Inc., 2024)
图 16 跨介质运动中推进方式的转换 ((a)ART水域运动时划水步态与扑动步态受力图[48]); (b)ART在陆地基质运动时, 直立爬行步态周期内的运动示意图及过渡性基质运动的爬行步态示意图[48], 经许可转载自文献[48], ©Springer Nature, 2022); (c)跨介质运动过程中, 驱动信号逐渐增强时CPG信号的变化示意图[35], 经许可转载自文献[35], ©AAAS, 2007)
Fig. 16 Propulsion mode transitions in cross-media locomotion ((a)ART: Force diagrams of swimming and paddling gaits in aquatic locomotion; (b)ART: Motion schematics during a single cycle of upright crawling on terrestrial substrates and transitional crawling gaits on mixed substrates, reproduced with permission from reference [48], ©Springer Nature, 2022; (c)Changes in CPG signals during cross-media locomotion as the driving signals gradually increase, reproduced with permission from reference [35], ©AAAS, 2007)
图 17 驱动方式原理图 ((a)电机驱动结构图[44], 经许可转载自文献[44], ©IEEE, 2009; (b)光驱动原理示意图[95], 经许可转载自文献[95], ©Royal Society of Chemistry, 2021; (c)流体驱动原理图[97], 经许可转载自文献[97], ©Springer Nature, 2015; (d)磁驱动原理图[100], 经许可转载自文献[100], ©Wiley, 2015; (e)SMA驱动原理图; (f)DE驱动原理图)
Fig. 17 Schematic diagrams of actuation principles ((a) Motor drive structure diagram, reproduced with permission from reference [44], ©IEEE, 2009; (b)Optical drive principle diagram, reproduced with permission from reference [95], ©Royal Society of Chemistry, 2021; (c)Fluid drive principle diagram, reproduced with permission from reference [97], ©Springer Nature, 2015; (d) Magnetic drive principle diagram, reproduced with permission from reference [100], ©Wiley, 2015; (e) SMA drive principle diagram; (f) DE drive principle diagram)
图 18 控制策略图 ((a)行为驱动型控制方法图; (b)模型驱动型控制方法图; (c)生物神经网络控制方法图)
Fig. 18 Control strategy diagrams ((a)Behavior-driven control method diagram; (b)Model-driven control method diagram; (c)Biological neural network control method diagram)
图 19 模型驱动的控制方法 ((a)ASRobot基于模型的控制网络图[114], 经许可转载自文献[114], ©Elsevier, 2021; (b)基于力学模型的轮腿式结构[116], 经许可转载自文献[116], ©IEEE, 2015)
Fig. 19 Model-driven control methods ((a)Control network diagram of ASRobot based on modeling, reproduced with permission from reference [114], ©Elsevier, 2021; (b)Control schematic of wheel-leg structures based on mechanical models, reproduced with permission from reference [116], ©Elsevier, 2021)
图 20 中枢模式发生器((a)双足、四足、2n足动物CPG网络示意图[118], 经许可转载自文献[118], ©Springer Nature, 1999; (b)Salamandra Robotica I CPG网络控制图[35], 经许可转载自文献[35], ©AAAS, 2007; (c)AmphiRobot II CPG网络控制图[120], 经许可转载自文献[120], ©SAGE Publications Inc, 2013)
Fig. 20 Central Pattern Generator (CPG)((a)Schematic of CPG networks in bipedal, quadrupedal, and 2n-legged animals; (b)CPG network control diagram of Salamandra Robotica I; (c)CPG network control diagram of AmphiRobot II)
表 1 典型传感器及功能
Table 1 Typical sensors and functions
功能目标 典型传感器 作用 文献 环境识别/介质判断 水探测传感器 判定介质环境并感知流体扰动, 支持模式切换与环境适应 [77] 人工侧线 [78] [79] 外界障碍/地形感知 超声/声呐测距 获取障碍与地形信息, 实现避障与路径规划 [80] [81] 相机/双目/RGB-D [82] [83] 红外传感器 [84] 定位与航向 IMU 提供姿态与定位信息, 保障多环境下的稳定导航 [85] [86] GPS [86] 深度/压力与介质状态 压力/深度传感器 监测水压与深度, 维持水下安全与稳定 [87] 感知与运动调控 霍尔传感器 感知腿部柔顺性, 进而实现地形分类; 控制机器人前进速度 [77, 88] 接近传感器 实现微型机器人的自主抓取、避障, 辅助在复杂/狭窄空间内的操作与定位 [89, 90] 
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表 2 驱动方式表
Table 2 Table of Actuation Methods
驱动类型 优势 局限性 典型案例 电机驱动 技术成熟, 控制精度较高 体积较大, 密封防水设计复杂 [55] [93] [94] 光驱动 无接触驱动, 微型化潜力大, 空间分辨率高 能量转换效率低, 受光源照射条件限制 [74] [96] 流体驱动 PAM 柔顺性好, 功率重量比高, 适合复杂环境 控制精度低, 系统复杂, 气源依赖大 [63] [98] [99] FEA 柔顺性高, 安全性好, 结构简单 推力小, 适合轻载, 控制精度受限 [64] 磁驱动 非接触式驱动, 密封性好, 适用于微型机器人 控制精度受磁场分布限制输出力矩较小 [61] [101] 智能材料驱动 SMA 结构紧凑, 适合微小机构 能效低, 循环疲劳寿命有限 [6] [66] IPMC 低电压驱动, 兼具传感与驱动功能 输出力和位移有限, 长期稳定性差 [104] DE 轻薄柔顺, 响应快, 适合高频驱动 需高压驱动, 封装难度大, 易介电击穿 [52]
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