仿人服务机器人发展与研究现状

doi:10.13973/j.cnki.robot.2017.0551

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颜云辉, 徐靖, 陆志国, 宋克臣, 柳博航. 仿人服务机器人发展与研究现状[J]. 机器人, 2017, 39(4): 551-564.DOI: 10.13973/j.cnki.robot.2017.0551. YAN Yunhui, XU Jing, LU Zhiguo, SONG Kechen, LIU Bohang. Development and Research Status of Humanoid Service Robots. ROBOT, 2017, 39(4): 551-564. DOI: 10.13973/j.cnki.robot.2017.0551.

摘要对国内外主要仿人服务机器人研究进展进行回顾，就目前其领域内涉及的本体结构与系统、驱动与控制技术、信息感知与交互等问题的研究现状进行综述，指出仿人服务机器人研究中需进一步解决的问题，并展望其发展趋势．

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关键词 ：仿人服务机器人, 本体结构与系统, 驱动与控制技术, 信息感知与交互

Abstract：Through review of the research progress of the main humanoid service robots at home and abroad, the research status of body structures and systems, drive and control technologies, information perception and interaction in its field is summarized. The problems to be solved further in the research of humanoid service robots are pointed out, and the development trends are prospected.

Key words： humanoid service robot body structure and system drive and control technology information perception and interaction

收稿日期: 2016-11-21 录用日期: 2017-03-21

TP242.6

基金资助:国家自然科学基金（51374063）；中央高校基本科研业务费专项资金（N141008001，N150308001）

通讯作者: 徐靖,E-mail:lianhaibeihua@stumail.neu.edu.cn,71911196@qq.com E-mail: lianhaibeihua@stumail.neu.edu.cn,71911196@qq.com

作者简介: 颜云辉(1960-),男,博士,教授.研究领域:机器人视觉与智能控制技术.
徐靖(1989-),男,博士生.研究领域:仿人机器人.
陆志国(1982-),男,博士,副教授.研究领域:多运动模式仿人机器人,力/位混合控制,欠驱动自适应智能机构设计.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0551 或 https://robot.sia.cn/CN/Y2017/V39/I4/551

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