This paper addresses the problem of training of operators for telemanipulation tasks. In particular it describes the development of a physics based virtual environment that allows a user to train in the control of an innovative robotic tools designed for the retrieval of spent nuclear fuels. The robotic device is designed to adapt to very different environments, at the cost of an increased complexity in its control. The virtual environment provides realistic simulation of robot dynamics. The two most challenging tasks related to robot control have been identified and implemented in the simulation, leading to an effective tool for the training. The developed application is described in details and the outcome of one simulated intervention is proposed and analyzed in terms of user interaction and realism.
CORNELLA Jordi;
ZERBATO Davide;
GIONA Luca;
FIORINI Paolo;
SEQUEIRA Vitor;
2013-04-04
IEEE Conference Publications
JRC68497
978-1-4673-1405-3,
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6224886,
https://publications.jrc.ec.europa.eu/repository/handle/JRC68497,
10.1109/ICRA.2012.6224886,
| Name | Country | City | Type |
|---|
This document is only visible at the Commission level.
You are not authorized to publish or distribute it outside the European Commission.
This is a public document. You can share this publication.
Datasets
| ID | Title | Public URL |
|---|
Dataset collections
| ID | Acronym | Title | Public URL |
|---|
Scripts / source codes
| Description | Public URL |
|---|
Additional supporting files
| File name | Description | File type |
|---|