全域和快速响应作战，需要特种机器人具有广域地形环境的共融特性，使其既能在悬崖峭壁上攀爬行走，又能在平地上高效快速移动。但由于自然的广博与动物种类多样，难以找到将各类动物和各种交通工具的优点融合在一个机器人上的方法。基于特种车辆和仿生机器人研究基础，本课题组发现地面力学理论可以揭示出环境与动物结构/行为的内在力/能量的耦合关系，进而建立相关的评估模型，抽取仿生原型和元素进行映射、融合与迭代。基于此发现，提出研究面向广域地形环境的轮/足-腿混合式行走机器人，通过研究“环境与动物结构/行为耦合的地面力学机理”揭示环境与动物（机器人）结构/行为的耦合机理，通过“轮/足-腿混合式行走机器人构型设计”产生新概念机器人构型，通过”轮/足-腿主被动行走步态规划与动态稳定、柔顺控制”实现机器人在广域环境下的行走目标。最终突破环境驱动的机器人构型设计与力学解析问题，为机器人技术取得源头创新提供理论和技术支撑。

The global and fast response military operations require specialized robots to have the interspecific characteristics of wide - area terrain environment that allows them to not only crawl on cliffs, but also move quickly and efficiently on the ground. However, it is difficult to find a way to integrate the advantages of all kinds of animals and various means of transportation into a robot because of extensity of natural environment and diversity of animal species. Based on the research basis of special vehicles and bionic robots, the research group found that the theory of ground mechanics can reveal the coupling relationship of the internal force/energy between the environment and animal structure/behavior, and then established the relevant evaluation model, and extracted the bionic prototypes and elements for mapping, fusion and iteration. Based on this finding, it is proposed to study the wheel/foot-leg hybrid walking robot for wide-area terrain environment. The coupling mechanism of environment and animal (robot) structure/behavior is revealed by studying " the ground mechanics mechanism of coupling of environment and animal structure/ behavior". The new concept of robot configuration is created through "wheel/foot-leg hybrid walking robot configuration design". The walking target of the robot in the wide-area environment is realized through " the wheel/foot - leg active and passive walking gait planning, dynamic stability and compliant control". And ultimately, the breakthrough of robot configuration design and mechanical analysis under environment-driven is made to provide theoretical and technical support for the robot technology to achieve the original innovation.