非惯性环境中的腿式机器人综述：过去、现在与未来
A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
AI总结：
综述非惯性环境中腿式机器人的建模、状态估计与控制现状，分析运动性能退化原因，探讨现有方法的局限性及未来发展方向。
摘要：
腿式机器人在刚性地面表现出色，但在非惯性环境中可靠性不足，因支撑地面运动、倾斜或加速导致持续时间变化干扰。本文综述非惯性环境中腿式机器人的建模、状态估计与控制现状，总结应用领域与运动特征，分析运动性能退化根源，回顾现有方法及其关键假设与限制。进一步识别机器人-环境耦合、可观测性、鲁棒性及实验验证中的开放问题，并讨论自主性、系统级设计、生物启发策略、安全性和测试的未来方向。本文旨在澄清该新兴领域的技术基础，支持开发可靠腿式机器人以应对真实动态环境。
英文摘要：
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise in ground transportation, maritime platforms, and aerospace settings, and they introduce persistent time-varying disturbances that break the stationary-ground assumptions underlying conventional legged locomotion. This survey reviews the state of the art in modeling, state estimation, and control for legged robots in non-inertial environments. We summarize representative application domains and motion characteristics, analyze the root causes of locomotion performance degradation, and review existing methods together with their key assumptions and limitations. We further identify open problems in robot-environment coupling, observability, robustness, and experimental validation, and discuss future directions in autonomy, system-level design, bio-inspired strategies, safety, and testing. The survey aims to clarify the technical foundations of this emerging area and support the development of reliable legged robots for real-world dynamic environments.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
