【摘要】 轮腿机器人因具有更强的适应性和机动性在工业工程领域得到了大量应用。为促进仿生跳跃机器人继续发展，推进足轮机器人的理论研究和工程应用，对关键技术开展分析，系统提出轮腿机器人的跳跃机制，包括步态规划、路径规格、运动控制、平衡和稳定性策略，全面概述单足、双足轮式、四足轮的流行类型和特征。列举介绍当前国内外典型跳跃机器人的外形和特点，阐释感知系统、运动规划、控制系统、平衡稳定、结构设计等关键技术；将运动规划分为路径规划和步态规划，模拟环境地图，讲述当前地图展示种类，介绍全局和局部路径算法，对机器人的运动步态进行详细分类，并建立基于MPC的运动控制框架。当下在控制系统优化、机械结构多元化等方面有实质性进展，特别是智能领域方面，比如OpenAI和deepseek的一系列人工智能技术研究和应用的突破，让足轮机器人达到新的高度，然而足轮机器人的多姿态运动依旧存在很大困难与挑战。此外，还讨论了足轮机器人的典型应用场景，评估了其发展中的挑战，并提出了未来研究的潜在途径。更多还原

【Abstract】 Wheel-legged robots receive wide application in the field of industrial engineering due to its strong adaptability and mobility. To promote the continuous development of bionic jumping robots, and to promote the theoretical research and engineering applications of footheeled robots, key technologies are reviewed, jumping mechanism is systematic put forward, including gait planning, path scheduling, motion control, balance and stability strategies, comprehensively on monopods, bipedal wheeled, quadrupedal wheels of the popular types and features.The appearance and characteristics of typical jumping robots at home and abroad are introduced, their key technologies, such as perception system, motion planning, control system, balance and stability, and structural design are elucidated, motion planning is divided into gait planning and path planning, and the environment map is simulated to state types of displayed map, global and local path algorithms are introduced, and the motion gaits of the robots are given a detailed categorization, and establish the motion control framework based on MPC. At present, there have been substantial progress in the optimization of control systems and the diversification of mechanical structures, especially in the field of intelligence. For instance, a series of breakthroughs in the research and application of artificial intelligence technologies by OpenAI and deepseek have brought bipedal robots to a new height. However, the multi-pose movement of bipedal robots still faces significant difficulties and challenges.In addition, typical application scenarios of foot-wheeled robots are discussed, the challenges are evaluated in their development, and proposes potential avenues for future research.更多还原