陈言壮, 张奇峰, 田启岩, 霍良青, 封锡盛. 水下多指手研究现状[J]. 机器人, 2020, 42(6): 749-768. DOI: 10.13973/j.cnki.robot.190568
引用本文: 陈言壮, 张奇峰, 田启岩, 霍良青, 封锡盛. 水下多指手研究现状[J]. 机器人, 2020, 42(6): 749-768. DOI: 10.13973/j.cnki.robot.190568
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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
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水下多指手研究现状

Research Status of Underwater Multi-Fingered Hands

    摘要
  • 摘要: 通过对国内外水下多指手研究进展的充分调研和总结，对水下多指手的现状和结构进行了综述，对影响水下多指手发展的密封与防腐技术、力感知技术、抓取最优规划技术及抓取力控制技术等关键技术进行了总结和分析，并展望其未来的发展趋势．

     

    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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