Research Status and Underwater Application Prospects of Flexible Manipulator

DAI Yicheng; XU Yining; ZHANG Yuzhu; JIANG Zhehao; HE Xinyong; YUAN Han; QU Juntian

doi:10.11993/j.issn.2096-3920.2025-0106

Volume 33 Issue 5

Oct 2025

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Article Navigation > Journal of Unmanned Undersea Systems > 2025 > 33(5): 744-757

DAI Yicheng, XU Yining, ZHANG Yuzhu, JIANG Zhehao, HE Xinyong, YUAN Han, QU Juntian. Research Status and Underwater Application Prospects of Flexible Manipulator[J]. Journal of Unmanned Undersea Systems, 2025, 33(5): 744-757. doi: 10.11993/j.issn.2096-3920.2025-0106

Citation:

DAI Yicheng, XU Yining, ZHANG Yuzhu, JIANG Zhehao, HE Xinyong, YUAN Han, QU Juntian. Research Status and Underwater Application Prospects of Flexible Manipulator[J]. Journal of Unmanned Undersea Systems, 2025, 33(5): 744-757. doi: 10.11993/j.issn.2096-3920.2025-0106

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Research Status and Underwater Application Prospects of Flexible Manipulator

doi: 10.11993/j.issn.2096-3920.2025-0106

DAI Yicheng^1
,,
XU Yining^1
,,
ZHANG Yuzhu^1
,,
JIANG Zhehao^1
,,
HE Xinyong^1
,,
YUAN Han²,
QU Juntian^{1
,
,}

1.
Tsinghua Shenzhen International Graduate School, Shenzhen 518055, China
2.
School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen, Shenzhen 518055, China

Received Date: 2025-07-20
Accepted Date: 2025-09-30
Rev Recd Date: 2025-09-09

Available Online: 2025-10-14

Abstract

Abstract

The constrained environments characterized by confined underwater spaces and multiple obstacles significantly limit the operational capabilities of traditional rigid manipulator. Flexible manipulator with slender structural profiles have increasingly become a research focus for completing operational tasks in such special scenarios. This paper systematically reviewed the current state of development in flexible manipulator. It began by summarizing the structural design of such manipulator developed domestically and internationally, highlighting their advantages and disadvantages. Then, modeling methodologies for these manipulator were discussed, including kinematics modeling based on geometric structures, dynamics modeling that accounts for force, and model-free approaches. Subsequently, this paper reviewed current methods for shape and force sensing in flexible manipulator, primarily focusing on external sensor-based techniques, especially optical and vision-based shape sensing, as well as tactile sensing methods utilizing flexible sensors. Furthermore, recent advances in control strategies for flexible manipulator were elaborated, examining the strengths and limitations of various approaches. Finally, this paper discussed the application potential and typical cases of flexible manipulator in underwater environments and analyzed the problems to be solved for underwater applications, along with prospects for future research directions, which provide a reference for the technical optimization of flexible manipulator and their application in underwater engineering.
- flexible manipulator,
- structural design,
- modeling method,
- sensing method,
- control method,
- underwater application

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References(118)

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