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Abstract: Humanoid robotics represents a rapidly evolving research domain that integrates artificial intelligence and robotics. Despite significant advances, existing reviews have predominantly focused on narrow technical aspects and lack comprehensive analysis from academic and industrial perspectives. This paper presents a systematic dual-perspective survey, in which academic literature, commercial products, and industry reports are extensively analyzed. A comprehensive taxonomic framework and systematic review of key enabling technologies are established, including ontological structures, perception systems, locomotion control, intelligent decision-making algorithms, foundation model integration, and human–robot interaction (HRI) technologies. From academic and industrial perspectives, research progress across diverse applications is examined, and a detailed comparative analysis of commercial products from leading companies, including Tesla, Boston Dynamics, and UBTECH, is performed. Six major challenge categories are identified: hardware design limitations, control system complexities, perception constraints, HRI difficulties, application-specific requirements, and ethical considerations. In addition, the transformative impact and integration challenges of large language models are particularly discussed. Seven promising research directions are outlined, and a systematic academic–industrial gap analysis is conducted. Consequently, significant disparities and technology transfer bottlenecks are identified, and successful collaboration models are examined. This comprehensive survey provides the first systematic examination combining academic research insights with industrial development analysis. It thus offers valuable guidance for researchers, engineers, and policymakers working toward more capable, affordable, and socially integrated humanoid robots.

人形机器人综述：学术与产业双视角

李文娟^1,2,3，杨根源¹，吴吉义^2,4，潘城杰¹，盛磊⁵，张启飞^6
1杭州师范大学信息科学与技术学院，中国杭州市，311121
²浙江大学智能教育研究中心，中国杭州市，310058
³移动健康管理系统教育部工程研究中心，中国杭州市，311121
⁴浙大城市学院滨江创新中心，中国杭州市，310015
⁵宁波市知识产权保护中心，中国宁波市，315000
⁶浙江大学软件学院，中国宁波市，315048
摘要：人形机器人代表了一个人工智能与机器人技术深度融合的快速演进研究领域。尽管已取得显著进展，现有综述大多聚焦于狭窄的技术层面，缺乏从学术和产业双视角进行的全面分析。通过对现有学术文献、商业化产品和行业报告广泛分析，提出一项系统的双视角调研。构建了一个全面的分类框架，并对关键使能技术进行系统姓梳理，包括本体结构、感知系统、运动控制、智能决策算法、基础模型集成以及人机交互技术。从学术与产业两个视角出发，考察不同应用领域研究进展，并对特斯拉、波士顿动力和优必选等领先企业推出的商业产品进行详细对比分析。识别出6大挑战类别：硬件设计局限性、控制系统复杂性、感知约束、人机交互困难、特定应用需求以及伦理考量。此外，特别讨论了大语言模型的变革性影响及其在人形机器人集成中面临的挑战。提出7大突破方向，并开展系统的"学术-产业"差距分析。由此，识别出显著的差异与技术转化瓶颈，探讨成功的协作模式。本综述首次系统性结合学术研究洞见与产业发展分析，为致力于研发能力更强、成本更低、社会融合度更高的人形机器人的研究人员、工程师和政策制定者们提供了宝贵指导。

关键词：人形机器人；双视角分析；产业应用；技术挑战；未来方向

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