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

TL;DR

This paper introduces MARUN2, a Unity-based underwater robot simulator integrated with VR and haptic feedback, enhancing operator dexterity for seabed intervention tasks, validated through user experiments.

Contribution

The paper presents a novel underwater robotic simulation environment with VR and haptic feedback, improving operator experience and dexterity for seabed tasks.

Findings

Enhanced operator dexterity with VR integration

Successful validation through user experiments

Seamless ROS integration for mission planning

Abstract

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.