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Abstract: amphibious robots are becoming increasingly important for civilian, scientific, and environmental missions. They are widely used in disaster rescue, ecosystem monitoring, and entertainment. However, some have two different locomotion systems that need to be changed manually to fulfill both swimming in the water and moving on land, which may reduce their efficiency and reliability. Applying bioinspiration and biomimetics, many recently developed amphibious robots can undertake various tasks in complex amphibious environments with high mobility, flexibility, and energy efficiency. This review overviews the latest developments in amphibious robots, emphasizing biomimetic design concepts, backbone driving mechanisms, and typical applications. The performance indices of amphibious robots mimicking 13 different natural sources are compared, based on 10 different propulsion principles/modes, travel speed, working efficiency, maneuverability, and stability. Finally, the current challenges and perspectives of amphibious bio-inspired robots are discussed. This article summarizes the current types of amphibious robots and their movement and behavior solutions. The design concepts and operating mechanisms of amphibious robots reviewed here can be readily applied to other robotic studies.

水陆两栖仿生机器人的发展与展望

作者：白向娟，尚建忠，罗自荣，蒋涛，殷谦
机构：国防科技大学，智能科学学院，智能机械与仪器系，中国长沙，410073
目的：1.通过对仿生生物行进功能和结构特性等特征的研究，分析总结现有两栖仿生机器人的特征。2.分析总结探讨仿生生物的自身生物结构优势，并通过应用仿生学提高水陆两栖环境下的机器人性能。
创新点：1.从13种不同仿生原型的角度归纳了典型的两栖机器人，比较了目前两栖机器人的研究技术参数，并总结了两栖机器人10种不同的推进方法以及行驶速度、工作效率、机动性和稳定性。2.创新性地提出了两栖机器人运动能力评价指标和仿生机器人仿生化程度评价方法。
方法：1.通过查阅现有多种水陆两栖仿生机器人的研究技术参数，总结两栖机器人的功能和结构等特性。2.通过应用性验证，对提出的仿生机器人性能进行评价比较分析。
结论：1.应用仿生学的设计理念，可以有效地提高水陆两栖仿生机器人在复杂两栖环境中的机动性、灵活性和能效等性能。2.通过比较分析现有两栖机器人的推进方式、工作效率和机动性等性能，可以将该仿生学设计方法和机理应用到其他种类的机器人研究中，从而提高机器人在民用、科学和环境任务中的应用潜能。

关键词：水陆两栖机器人；仿生机器人；仿生技术；智能机器人；机器人学

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