论文标题
水下机器人操纵：进步，挑战和潜在的冒险
Underwater Robot Manipulation: Advances, Challenges and Prospective Ventures
论文作者
论文摘要
水下操纵是机器人技术中最引人注目的研究主题之一。 \ acp {i-auv}不仅必须应对与传统操纵任务相关的技术挑战，而且在电流和波浪扰动车辆的稳定性以及低光，浑浊的水条件上阻碍了周围环境的稳定性。当然，动态性质和我们对海洋环境的有限理解阻碍了水下机器人操纵的自主性能。该手稿对先前的研究和限制因素进行了讨论，这些因素对自主水下操纵的长期存在的前景施加了限制因素，以最终强调研究方向，这些方向有可能提高I-AUV的自治能力。
Underwater manipulation is one of the most remarkable ongoing research subjects in robotics. \acp{I-AUV} not only have to cope with the technical challenges associated with traditional manipulation tasks but do so while currents and waves perturb the stability of the vehicle, and low-light, turbid water conditions impede perceiving the surroundings. Certainly, the dynamic nature and our limited understanding of the marine environment hinder the autonomous performance of underwater robot manipulation. This manuscript provides a discussion on previous research and the limiting factors that impose on the long-envisioned prospects of autonomous underwater manipulation to finally highlight research directions that have the potential to improve the autonomy capabilities of I-AUV.
