Research Status of Underwater Multi-Fingered Hands

CHEN Yanzhuang; ZHANG Qifeng; TIAN Qiyan; HUO Liangqing; FENG Xisheng

doi:10.13973/j.cnki.robot.190568

CHEN Yanzhuang, ZHANG Qifeng, TIAN Qiyan, HUO Liangqing, FENG Xisheng. Research Status of Underwater Multi-Fingered Hands[J]. ROBOT, 2020, 42(6): 749-768. DOI: 10.13973/j.cnki.robot.190568

Citation:

CHEN Yanzhuang, ZHANG Qifeng, TIAN Qiyan, HUO Liangqing, FENG Xisheng. Research Status of Underwater Multi-Fingered Hands[J]. ROBOT, 2020, 42(6): 749-768. DOI: 10.13973/j.cnki.robot.190568

Citation:

CHEN Yanzhuang, ZHANG Qifeng, TIAN Qiyan, HUO Liangqing, FENG Xisheng. Research Status of Underwater Multi-Fingered Hands[J]. ROBOT, 2020, 42(6): 749-768. DOI: 10.13973/j.cnki.robot.190568

Research Status of Underwater Multi-Fingered Hands

Abstract

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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