人形机器人标准化白皮书：2024版

指导委员会 主任：丁汉 委员：王德成宋晓刚孙立宁曲道奎王振林刘新黄雪刘连庆宋锐王宁威于括赵赢 编写委员会 副主任：李金村熊友军熊蓉 委员：丁宁马晓帅王斌锐王士宁王启舟王俊芳王健方骏玮乔波任容玮刘常昱刘少山刘佳璐刘春宝齐为孙洁香孙添飞杜振军杜睿龙李本旺李志海吴璇杨前进杨秋影杨恒杨涛张彦辉张锋张锦棣张鹏飞张利强陈学超陈仟庞建新林雪琴罗小雪季超周忠祥郑子木郑金房海南孟眉贺吉赵宏剑陶永秦修功聂永丰栾俊达唐臣玉黄显道曹钰曹晓擎符海芳梁乔玲焦继超程宝平蒲琪然颜磊薛聪睿瞿卫新（委员按照姓氏笔画排名） 目录 1.1概念.............................................................................................................................................................4 1.1.1定义及本文范畴.......................................................................................................................41.1.2人形机器人与其他相关概念的关系..................................................................................71.1.3分类...............................................................................................................................................9 1.2人形机器人发展历程..........................................................................................................................11 二、人形机器人产业与技术发展现状.........................................................................................................14 2.1.1产业政策...................................................................................................................................142.1.2全球产业格局..........................................................................................................................182.1.3产业链分析..............................................................................................................................202.1.4产业发展趋势..........................................................................................................................272.1.5产业对标准化的需求............................................................................................................28 2.2技术发展现状与趋势...........................................................................................................................29 2.2.1机械本体与核心部件.............................................................................................................302.2.2动力系统...................................................................................................................................362.2.3多模态感知与场景理解.......................................................................................................382.2.4自主任务规划与决策............................................................................................................392.2.5运动规划与控制.....................................................................................................................412.2.6移动操作执行与人机交互..................................................................................................422.2.7大模型训练系统.....................................................................................................................452.2.8仿真训练系统..........................................................................................................................462.2.9操作系统....................................................................................................................................472.2.10关键技术标准化需求分析.................................................................................................48 3.1国内外标准化现状..............................................................................................................................493.2人形机器人标准分析...........................................................................................................................52 四、人形机器人产业/技术与标准图谱........................................................................................................56 4.1产业－标准图谱...................................................................................................................................564.2技术－标准图谱...................................................................................................................................58 五、人形机器人标准体系建设..........................................................................................................................60 5.2.1基础通用标准...........................................................................................................................635.2.2零部件........................................................................................................................................645.2.3模块..............................................................................................................................................645.2.3.1结构模块................................................................................................................................645.2.3.2功能模块................................................................................................................................655.2.3.3系统模块................................................................................................................................665.2.4整机.......................................................................................................................................