软体机器人空间感知技术综述

软体机器人空间感知技术的准确性关系到软体机器人在未知环境中对外部环境和自身位姿的识别精度。本文聚焦软体机器人空间感知领域。首先，介绍了软体机器人的应用领域，通过探究软体机器人对于空间感知技术的需求和在未知环境中获取绝对和相对空间感知信息的技术，归纳了软体机器人空间感知技术的研究价值。然后，文章介绍了软体机器人的空间感知信号，并分别从信号调度、 3D打印以及深度学习算法这三方面总结了提高软体机器人在未知环境中感知精度的方法。之后，文章对软体机器人的未来结构和多传感融合技术提出了设想。在最后，对全文做以总结。

Review of Soft Robots Spatial Sensing Technology

The accuracy of soft robots spatial sensing technology is related to the recognition accuracy of soft robots external environment and its own pose in an unknown environment. We focus on the field of spatial sensing of soft robots. Firstly, the application fields of soft robots are introduced, and the research value of spatial sensing technologies are summarized by exploring the demand of soft robots for spatial sensing technologs and the technology of getting absolute and relative spatial sensing information in unknown environments. Then, We introduce the spatial sensing signals of soft robots and analyze the improvement of spatial sensing technologies by signal scheduling, 3D printing technologies and deep learning-based algorithms. After that, envisage the structure and sensing technologies of soft robots in the future. Finally, a conclusion of this article is made.