陆空多模态机器人技术研究现状及展望OA

Terrestrial-aerial multimodal robots demonstrate significant application potential in disaster rescue,spe-cial-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 modality and stable transitions between different modalities are key to ensuring that terrestrial-aerial multimodal robots can efficiently and reliably perform tasks such as exploration and rescue.This paper systematically reviews recent research on ter-restrial-aerial multimodal robots at home and abroad,focusing on their configuration characteristics,actuation modes,and motion principles.On this basis,key technologies are analyzed in depth,including obstacle perception and stable locomotion over complex terrains,autonomous and stable takeoff in unstructured environments,stable flight and trajectory maintenance under airflow disturbances,and buffered landing under ground effect and touch-down impact.Finally,the challenges and emerging trends toward autonomous and intelligent motion for terrestrial-aerial multimodal robots are elaborated.