高爆发性的跳跃是生物亿万年进化演变中赖以生存的关键之一,帮助生物实现在各种非结构化环境下的灵活运动功能.通过对生物跳跃机制的深入理解,微小型跳跃机器人在功能及性能上取得长足进步.本文以生物跳跃运动四个阶段(准备、起跳、腾空和着陆)为主线,剖析了生物的行为原理,介绍了对应的微小型跳跃机器人的动力学特征与技术,归纳了现有研究的挑战,最后讨论了跳跃机器人的未来发展趋势和潜在研究价值.
Highly explosive jumping is one of the survival keys to the organism evolution over the course of billions of years.This movement helps organisms to achieve flexible movement functions under vari-ous unstructured conditions.Through an in-depth understanding of biological jumping mechanism,the small-scale jumping robot has made great progress in function and performance.Taking the four stages of biological jumping movement(preparation for take-off,take-off,flight and landing)as the main line,this paper reviews the behavioral principle of organisms,introduces the dynamic characteristics and tech-nology of the corresponding small-scale jumping robots,summarizes the challenges of existing research,and finally discusses the future development and potential of jumping robots.