A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space

doi:10.1155/2022/7659012

	A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space
	Liu, Jiaxin 1; Zhang, Aoshun 2,3; Li, En2,3 ; Guo, Rui 4; Li, Shengchuan 1; Luo, Mingrui 2,3
发表期刊	JOURNAL OF SENSORS
ISSN	1687-725X
	2022-09-27
卷号	2022 页码:15
通讯作者	Li, En(en.li@ia.ac.cn)
摘要	As a typical kind of special robot with high flexibility and maneuverability, the hyperredundant manipulators (HRM) which can work in the narrow and complex space arose much related research work. Due to the particularity of the environment and the structural complexity of the manipulators, there are many problems for the HRM in specific applications. This paper summarizes some representative research works for HRM, including the mechanical design, environment perception, robotic navigation, and trajectory control. In order to make the design of the HRM systems more suitable for applications, the technical problems of current research are analyzed to address the key issues for the improvement. Finally, the prospect of spatial reachability, structural compactness, operation accuracy, and interaction friendliness of hyperredundant manipulators are presented.
DOI	10.1155/2022/7659012
关键词[WOS]	REDUNDANT ; DRIVEN ; MOTION ; ALGORITHM ; DYNAMICS ; DESIGN
收录类别	SCI
语种	英语
资助项目	Science and Technology Project of State Grid Liaoning Electric Power Co., Ltd. ; [2022YF-101]
项目资助者	Science and Technology Project of State Grid Liaoning Electric Power Co., Ltd.
WOS研究方向	Engineering ; Instruments & Instrumentation
WOS类目	Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000868928300001
出版者	HINDAWI LTD
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/50291
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Li, En
作者单位	1.State Grid Liaoning Elect Power Co Ltd, Shenyang 110004, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, 19 A Yuquan Rd, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.State Grid Shandong Elect Power Co, Jinan 250001, Peoples R China
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Liu, Jiaxin,Zhang, Aoshun,Li, En,et al. A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space[J]. JOURNAL OF SENSORS,2022,2022:15.
APA	Liu, Jiaxin,Zhang, Aoshun,Li, En,Guo, Rui,Li, Shengchuan,&Luo, Mingrui.(2022).A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space.JOURNAL OF SENSORS,2022,15.
MLA	Liu, Jiaxin,et al."A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space".JOURNAL OF SENSORS 2022(2022):15.