仿生机器人在抢险救援、反恐及地面作战等领域日益受到重视。为了使仿生机器人能够像动物一样快捷灵活运动，围绕尾巴对身姿调控的研究引起关注。本项目拟以蜥蜴尾为对象，采用仿生学、生物力学及多体动力学原理，从尾结构及肌群驱动的微观和宏观多尺度仿生，开展运动学、刚柔混合多体动力学研究，解耦尾巴旋摆与身姿调控的刚柔混合动力学原理，弄清并构建“尾旋摆-身姿调控”的内在关系，建立类动物的机器人仿生尾对身躯姿态的调控理论。重点研究：尾巴独特的结构对旋摆运动的支持关系，尾巴内外肌群驱动力对旋摆运动性能的内在影响，以及尾巴旋摆与身姿调控的力学基础及作用机理。研究成果以期为机器人仿生尾优化设计和驱动控制提供理论基础和技术支持。

The bionic robot is playing more and more significant role in the field of emergency rescue, anti-terrorism and ground combat activities. In order to make the robots move as fast and flexibly as animals, the research on bionic tail and the mechanism of its regulation on body balance is attracting widespread attention. This project, taking the lizard tail as the research object, adopting the principles of bionics, biomechanics, and multi-body dynamics, simulating from the micro and macro scales of the tail structure and driving model of muscle groups, conducts the study on kinematics, rigid flexible multi body dynamics and decouples the rigid flexible mechanical principle between the tail swing and posture control, and then clarifies and establishes the inner relationship of "internal tail swing - posture regulation", and finally establishes the theory of the robot bionic tail to body posture. Key researches include: the supporting relationship between the unique structure of the tail to the high rotating pendulum, the internal effect of the muscle groups driving model on the swing movement performance, and the mechanical basis and operation mechanism between the tail swing and posture control. The research findings aim to provide theoretical basis and technical support for the optimization design of the robots bionic tail.