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中文摘要：
以自然界仿生对象为基础，介绍了国内外现有的5类仿生机器人一仿飞行生物机器人、仿陆地生物机器人、仿水下生物机器人、仿水陆两栖生物机器人及仿人机器人的研究现状及最新进展，详细阐述了每种仿生对象的特点，仿生机器人的基本结构、性能特征及应用前景。在分析仿生机器人机构特性的基础上，提出并阐述了仿生机器人仿生机构的冗余驱动原理、欠驱动仿生原理、变胞结构设计、运动稳定性设计、高承载自重比设计，以及新型仿生材料设计等重要研究内容。
英文摘要：
bionic flyi manoid ro tures,the The present research progress and the latest development of 5 types of bionic robots,including ng robots, bionic terrestrial robots, bionic underwater robots, bionic amphibious robots and hu- bots, are presented based on the natural bionic creatures. Then the characteristics of bionic crea- basic structure, the performance characteristics and the application prospects of bionic robot are described in detail. mechanisms are dis principle, design of and design of novel Finally, the r cussed, which metamorphic biomimetic m esearch direction and some are principles of bionic structure, design of mo aterial. important research issures of bionic robot robot redundant actuation, underactuated bionic tion stability, design of high bearing weight ratio
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