# 采用果蝇启发循环控制器的人形机器人运动

> 原文链接：https://robotics.hellobike.com/papers/2026-09-22-2609-27001
> 频道：papers | 更新日期：2026-09-22 | 标签：arxiv, cs.RO
> 核心摘要：研究用果蝇启发循环控制器驱动仿真Unitree G1，在多地形、速度和初始偏航条件下验证其行走行为。

# 采用果蝇启发循环控制器的人形机器人运动

::: v-pre
> 原文链接：[Humanoid Locomotion with a Fly-Inspired Recurrent Controller](https://arxiv.org/abs/2609.27001)（arXiv 2609.27001 · 发布日期：2026-09-22）

**Humanoid Locomotion with a Fly-Inspired Recurrent Controller**

研究用果蝇启发循环控制器驱动仿真Unitree G1，在多地形、速度和初始偏航条件下验证其行走行为。

## 核心要点

- 问题聚焦于人形机器人运动中，类果蝇循环控制器的部署行为及其支持通路。
- 方法将3609个连续神经状态通过身体观测投影、运动神经元读出和关节伺服连接到仿真机器人。
- 固定检查点在63种条件中完成61种，特权参考完成62种，按存活与前进标准评估。
- 名义偏航下重置循环运动状态使成功率由19/21降至0/21，表明携带运动状态很关键。

**验证范围与局限**：验证限于仿真Unitree G1的七种地形、三种速度和三种初始偏航设置。

## 英文摘要 (Abstract)

We investigate humanoid locomotion with a fly-inspired recurrent controller and identify the pathways supporting its deployed behavior. The controller couples 3,609 continuous neural states to a simulated Unitree G1 through body-observation projections, a motor-neuron-labelled readout, and joint servos. We formulate this neural-body feedback system and evaluate a fixed checkpoint across seven terrain instances, three speeds, and three initial yaw offsets. It completes 61/63 conditions under a survival-and-forward-progress criterion; a privileged reference completes 62/63. At nominal yaw, resetting the recurrent motor state before every policy call changes success from 19/21 to 0/21. Conversely, depth and upstream-state substitutions at 252 recorded states leave actions unchanged, with zero measured descending output throughout the intact rollouts. Recorded trajectories and state-matched images connect these findings to sustained movement, lateral drift, and termination events. The study characterizes an embodied recurrent control system whose tested locomotion is supported by direct body-and-command input and carried motor state, providing a concrete basis for subsequent comparisons of circuit structure and control resources.

作者：Isabel Y.N Guan, Yuntian Zhao, Dingyuan Zhang, Shipeng Lyu
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## 原始参考来源 (Sources)

- [arXiv 2609.27001：Humanoid Locomotion with a Fly-Inspired Recurrent Controller](https://arxiv.org/abs/2609.27001)