A Robot Simulation Environment for Virtual Reality Enhanced Underwater Manipulation and Seabed Intervention Tasks

原文アブストラクト

This paper presents the (MARUN)2 underwater robotic simulator. The simulator architecture enables seamless integration with the ROS-based mission software and web-based user interface of URSULA, a squid inspired biomimetic robot designed for dexterous underwater manipulation and seabed intervention tasks. (MARUN)2 utilizes the Unity game engine for physics-based rigid body dynamic simulation and underwater environment modeling. Utilizing Unity as the simulation environment enables the integration of virtual reality and haptic feedback capabilities for a more immersive and realistic experience for improved operator dexterity and experience. The utility of the simulator and improved dexterity provided by the VR module is validated through user experiments.