基于Unity的水下机器人仿真平台，支持虚拟现实与触觉反馈。
A Robot Simulation Environment for Virtual Reality Enhanced Underwater Manipulation and Seabed Intervention Tasks
- 用Unity构建物理引擎驱动的水下环境与机器人动力学模型
- 集成虚拟现实与触觉反馈，提升操作员操控精度
- 通过用户实验验证了虚拟现实模块对操作能力的提升
本文提出(MARUN)2水下机器人仿真平台。该平台架构支持与基于ROS的任务软件及基于Web的用户界面URSULA的无缝集成，后者是一种受鱿鱼启发的仿生机器人，用于灵巧的水下操作和海底干预任务。(MARUN)2采用Unity游戏引擎实现基于物理的刚体动力学仿真与水下环境建模。利用Unity作为仿真环境，可集成虚拟现实与触觉反馈功能，为操作员提供更沉浸、真实的体验，从而提升操作灵巧性与操作体验。通过用户实验验证了仿真平台的有效性，以及虚拟现实模块对操作能力的改进。
原文摘要 · Abstract (English)
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.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。