深海小型爬行机器人研究现状

doi:10.13973/j.cnki.robot.180231

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张奇峰, 张运修, 张艾群. 深海小型爬行机器人研究现状[J]. 机器人, 2019, 41(2): 250-264.DOI: 10.13973/j.cnki.robot.180231. ZHANG Qifeng, ZHANG Yunxiu, ZHANG Aiqun. Research Status of Benthic Small-scale Crawling Robots. ROBOT, 2019, 41(2): 250-264. DOI: 10.13973/j.cnki.robot.180231.

摘要通过充分的文献调研和总结，根据海上作业形式对典型的深海小型爬行机器人分成3类进行了综述.对影响深海小型爬行机器人发展的海底运动适应性、导航定位、能源供给以及轻量级机械手4项关键技术进行了总结和分析，并对其未来的发展趋势进行了展望.

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关键词 ：深海小型爬行机器人, 海底自适应行走, 导航定位, 能源供给, 轻量级机械手

Abstract：After sufficient literature survey and summary, the typical benthic small-scale robots are divided into three categories to be analyzed comprehensively according to their operation forms in the sea. 4 key technologies that affect the development of benthic small-scale crawling robots are summarized and analyzed, i.e., seafloor adaptive walking, navigation and positioning, energy supply and lightweight manipulator technologies. Finally, the development trends of benthic small-scale crawling robots are discussed.

Key words： benthic small-scale crawler robot seafloor adaptive walking navigation and positioning energy supply lightweight manipulator

收稿日期: 2018-03-29 录用日期: 2018-05-08

TP242.6

基金资助:国家重点研发计划（2017YFC0306402）

通讯作者: 张奇峰 E-mail: zqf@sia.cn

作者简介: 张奇峰(1979-),男,博士,研究员,博士生导师.研究领域:水下机器人作业技术
张运修(1989-),男,博士生.研究领域:深海漫游者机器人及其作业技术
张艾群(1959-),男,研究员,博士生导师.研究领域:水下机器人总体技术.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.180231 或 https://robot.sia.cn/CN/Y2019/V41/I2/250

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