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在机器人抓取系统中，一般认为需要４种规划器：即策略规划器，触觉规划器，轨迹规划器及抓取规划器．抓取规划器对成功抓取来说是非常重要的．在抓取规划器中，视觉模块用来把图象变换成物体的描述，接着用抓取模式选择模块把物体的描述变换成一系列的控制信号，本文从最优抓取规划和基于专家系统的抓取规划这两个方面，着重从基于专家系统的抓取规划方面对当前机器人多指手抓取规划的研究现状及主要问题进行了深入地剖析．
In robotic capture system, generally considered the need for four kinds of planners: strategy planner, tactile planner, trajectory planner and capture planner. Crawl planner for successful crawling is very important. In the capture planner, the visual module is used to transform the image into the object description, then the capture mode selection module is used to transform the description of the object into a series of control signals. In this paper, from the optimal capture planning and expert system Grasping the two aspects of planning, focusing on the acquisition system based on the expert planning of the multi-fingered robot grasping the current status of research and major issues were analyzed in-depth.