A Review of Key Technologies for Cross-domain and Trans-medium of Mobile Robotics

doi:10.12382/bgxb.2023.0414

Abstract

Abstract:

Human exploration of terrestrial, aerial, spatial, and aquatic environments has never ceased, and this process involves complex scientific problems related to multi-domain and multi-medium environments.As typical examples of machines capable of crossing different environments, mobile robots are expected to explore broader land, higher sky, farther space, and deeper seabed in the future but this presents a significant challenge for mobile robots to maintain high performance in multi-domain and multi-medium environments.This paper first introduces the scientific fusion of mobile robots in energy, space-time, and information domains, highlighting their increasingly important role in exploring new domains and media.Then, it summarizes the basic theoretical research, applications, and development status of mobile robots in areas such as supporting and traction technology, speed and stability technology, and interaction and collaborative technology.Finally, suggestions are proposed to address the key challenges related to the maneuverability and operational intelligence of multi-domain and multi-medium mobile robots.The aim is to enable these machines to perform tasks that are beyond human reach, and to facilitate the widespread application of robot equipment systems in multi-domain and multi-medium environments.

Key words: mobile robot, cross-domain and trans-medium, energy domain, space-time domain, information domain

CLC Number:

TJ301

SU Bo, JIANG Lei, LIU Yufei, XING Boyang, LI Yongyao, TAN Senqi, WANG Zhirui. A Review of Key Technologies for Cross-domain and Trans-medium of Mobile Robotics[J]. Acta Armamentarii, 2023, 44(9): 2556-2567.

Figures/Tables 11

Fig.1 Cross-domain and trans-medium robots

Fig.2 Domestic and international cross-domain collaboration research projects

Fig.3 Cross-domain coupling relationship of mobile robots

Fig.4 Shoulder module section view of a front leg of the MIT Cheetah

Fig.5 Adaptive walking of legged robots in complex terrains

Fig.6 Multi-robot cooperative perception

Fig.7 Relationship between OODA loop's physical space and cognitive space

Fig.8 Simulation of cooperative motion in bird flocks

Fig.9 Cross-domain and trans-medium technology system for mobile robots

Fig.10 Cross-domain legged robot mobile platform

Fig.11 Real-time cooperative control of cross-domain heterogeneous platform

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