A review of advances in underwater humanoid robots for human–machine cooperation

IF 4.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Robotics and Autonomous Systems Pub Date : 2024-06-13 DOI:10.1016/j.robot.2024.104744

Canjun Yang , Xin Wu , Mingwei Lin , Ri Lin , Di Wu

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Abstract

Underwater humanoid robots (UHRs) have emerged as a significant area of interest in robotics, with the potential to overcome the limitations of traditional underwater robots and revolutionize underwater activities. This review examines the development of UHRs, focusing on their perception, decision-making, and execution capabilities within a hierarchical human-machine cooperation framework. The Perception Layer involves gathering information from the environment and human collaborators. The Decision-making Layer explores different levels of robot autonomy and the current status of human-UHR collaborative decision-making. The Execution Layer encompasses modeling, control, and actuation mechanisms to translate high-level intentions into physical actions. Various UHR implementations across research teams are reviewed to provide a comprehensive overview of current advancements. Discussions and challenges surrounding UHR progress are provided as well. Continued research and development efforts of UHR represent a promising avenue for advancing human-machine cooperation and pushing the boundaries of underwater exploration, contributing to scientific discoveries and societal benefits in this captivating realm.

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水下仿人机器人在人机合作方面的进展综述

水下仿人机器人（UHRs）已成为机器人技术的一个重要兴趣领域，它有可能克服传统水下机器人的局限性，并彻底改变水下活动。本综述探讨了仿人机器人的发展，重点关注其在分层人机合作框架内的感知、决策和执行能力。感知层涉及从环境和人类合作者那里收集信息。决策层探讨了机器人自主性的不同层次以及人类-UHR 合作决策的现状。执行层包括建模、控制和执行机制，以将高层次意图转化为实际行动。研究团队对各种 UHR 实施情况进行了回顾，以全面概述当前的进展情况。此外，还提供了有关 UHR 进展的讨论和挑战。UHR 的持续研究和开发工作是推进人机合作和突破水下探索界限的一条大有可为的途径，有助于在这一迷人的领域取得科学发现和社会效益。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Robotics and Autonomous Systems 工程技术-机器人学

CiteScore

9.00

自引率

7.00%

发文量

164

审稿时长

4.5 months

期刊介绍： Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.