灵巧的机器人手的全面审查:设计,实施和评估
Yu-Ying Lin1, Ritik Raj1, Jia-Yang Juang1,2
1Department of Mechanical Engineering, National Taiwan University, No. 1, Section 4, Roosevelt Rd, Taipei City, 10617 Taiwan, ROC.
Bioinspiration & biomimetics
|June 24, 2025
概括
本综述分析了机器人手的最新进展,对其能力进行分类,并比较设计. 它涵盖了机器人抓取和操纵的硬件,实现和方法.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
背景情况:
- 巧妙的机器人手对于在机器人技术中复制人类手的能力至关重要.
- 现有的文献缺乏一个系统的框架来评估机器人手的灵敏度.
研究的目的:
- 为了全面回顾机器人手的最新进展.
- 为机器人手的灵巧性建立一个分类框架.
- 分析各种硬件设计,实现方法和操纵技术.
主要方法:
- 对机器人手的系统文献综述.
- 灵巧的分类为潜在的,掌握的和操纵的灵巧.
- 机器人手的组织由数字,传输,执行和传感.
- 引入基于分析,机器学习和采样的操纵方法.
主要成果:
- 一个结构化的概述当前敏捷的机器人手技术.
- 基于关键性能标准的不同机器人手设计的比较.
- 识别不同的抓取和操纵策略.
结论:
- 该评论提供了一种系统的方法来理解和评估灵巧的机器人手.
- 它综合了对硬件和软件的当前知识,用于先进的机器人操纵.
- 这项工作是未来机器人手开发研究的基础资源.
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