中文摘要：

水下船体表面清刷和检测为爬壁机器人开辟了新的应用领域,其特点是机械本体稳定地吸附在水下船体表面上,同时能够灵活地完成移动、转向、越障等行走功能,进而完成针对船体表面的检测、清刷等作业。文中重点介绍了几种水下船体作业的爬壁爬行机器人,并对机器人的吸附和行走两个关键技术进行了分析,总结了水下船体作业机器人研究中的一些难点问题及其发展趋势。

英文摘要：

The underwater ship-cleaning robots open up a new application field for wall-climbing robots. Their characters show that it can steadily absorb on the vertical or inclined surface,carry on movement,turn and step quickly,further complete check and clean the ship automatically. The paper introduced the head research of underwater ship-cleaning robots in domestic and abroad,analyzed the virtues and defects of a series of abstracting and walking technology,and summarized the difficult questions in its research and its developing trend at present.