Research Progress on Embodied Intelligent Robots

XU Jun; GUO Zhechen; WANG Kailong; YANG Tian; DING Zhizhuang; MEI Xuesong

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Research Progress on Embodied Intelligent Robots

更新时间：2026-07-15

- Research Progress on Embodied Intelligent Robots
- JOURNAL OF XI’AN JIAOTONG UNIVERSITY (2026)
- 作者机构：
  
  1.西安交通大学机器人研究院西安 710049
  2.陕西省智能机器人重点实验室西安 710049
- 作者简介：
- 基金信息：
- DOI：
  CLC： TG156
- Received：17 June 2026，
  
  Revised：2026-07-10，
  
  Accepted：13 July 2026，
- 稿件说明：
移动端阅览
XU Jun, GUO Zhechen, WANG Kailong, et al. Research Progress on Embodied Intelligent Robots[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2026.
DOI：

XU Jun, GUO Zhechen, WANG Kailong, et al. Research Progress on Embodied Intelligent Robots[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2026. DOI：

摘要

具身智能机器人作为人工智能（AI）与机器人技术深度融合的前沿方向，已成为发展新质生产力和“人工智能+”行动的重要抓手，是实现通用智能的关键载体。本文系统梳理了机器人近代发展历程与人工智能符号主义、行为主义、连接主义三大学派技术演进脉络。归纳了国内外代表性学者对具身智能的定义与核心内涵，提出了涵盖数字孪生（Digital Twin）、现实世界（Reality）、互动（Engagement）、感知（Awareness）、执行（Motion）五大核心要素的具身智能机器人DREAM技术框架，并总结其物理载体依赖、孪生映射、自成长三大核心特征。深入剖析了当前具身智能的主流技术路线，包括一体化端到端模型路线、分层式模型路线、世界模型路线。分类阐述具身智能机器人的载体形式，涵盖了固定底座式、轮式、足式、飞行式及水下、空间、软体等特殊类型。总结了具身智能机器人的分级标准，结合当前具身智能机器人在工业制造、家庭服务、特种环境等应用场景以及面临的挑战，对具身智能机器人的未来发展趋势进行展望，为具身智能机器人研究提供参考。

Abstract

As a cutting-edge field representing the deep integration of artificial intelligence (AI) and robotics

embodied AI robots have become a key driver for developing new forms of productive capacity and advancing the ‘AI+’ initiative

and serve as a crucial vehicle for achieving general intelligence. This paper systematically reviews the modern history of robotics and traces the technological evolution of the three major schools of thought in artificial intelligence: symbolism

behaviorism and connectionism. It summarizes the definitions and core concepts of embodied AI proposed by leading scholars both domestically and internationally

and proposes the DREAM technical framework for embodied intelligent robots

which encompasses five core elements: Digital Twin

Reality

Engagement

Awareness

and Motion. It also summarizes its three core characteristics: physical carrier dependency

twin mapping

and self-growth. It provides an in-depth analysis of the current mainstream technical approaches in embodied AI

including the integrated end-to-end model approach

the hierarchical model approach

and the world model approach. It categorizes and describes the carrier forms of embodied AI robots

covering fixed-base

wheeled

legged

flying

and special types such as underwater

space-based

and soft robots. It summarizes the classification criteria for embodied AI robots. By examining their current applications in industrial manufacturing

domestic services and specialized environments

alongside the challenges they face

the paper outlines future development trends for embodied AI robots

thereby providing a reference for future research in this field.

关键词

Keywords

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