Research Status of Underwater Multi-Fingered Hands
CHEN Yanzhuang1,2,3, ZHANG Qifeng1,2, TIAN Qiyan1,2, HUO Liangqing1,2, FENG Xisheng1,2
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China; 3. University of Chinese Academy of Sciences, Beijing 100049, China
Abstract：After a survey and summary of the research progress of underwater multi-fingered hands at home and abroad, the status and structure of underwater multi-fingered hands are analyzed. Key technologies that affect the development of underwater multi-fingered hands are summarized and analyzed, including sealing and anticorrosion technology, force sensing technology, optimal grasp planning technology and grasping force control technology. Finally, the development trends are prospected.
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