在复杂环境中工作的机器人必须满足这样的先决条件:能够利用传感器对周围环境进行识别,具有一定的“学习”和“自我调节”能力。在市场上,有着各种依靠图像监控或力的检测来控制机器人的传感器,但是仍缺乏“滑移”传感器,即能够对机器人的手指与被握物体之间的相对运动进行在线检测和补偿的传感器。 Robots working in a complex environment must meet the prerequisites of being able to use their sensors to identify the surroundings, with a certain “learning” and “self-regulating” abilities. In the market, there are various types of sensors that rely on image monitoring or force detection to control the robot, but there is still a lack of “slip” sensors that enable on-line detection of the relative motion between the robot’s finger and the object being held and Compensated sensor.