机器人多指手的控制与传感器技术

THE CONTROL AND SENSOR TECHNOLOGY OF MULTI-FINGERED HAND

本文阐述了多指手控制的独特性质和存在的困难，较为全面地讨论了现有控制方法及其优、缺点；介绍了主动感知、多传感器数据融合等方面的研究情况；同时简述了多指手的运动学、动力学、负载分配等方面的研究情况。

This paper gives a survey to the research works of control and sensor for multi-fingered hand. Attention is paid to the introduction of the control method and active sensing. The kinematics,dynamics andloadsharing are also stated.