Intuitive Programming with Remotely Instructed Robots inside Future Gloveboxes

摘要

Our research aims at facilitating the design of 'Remotely Instructed Robots' for future glove-boxes in the nuclear industry. The two main features of such systems are: (1) They can automatically model the working environment and relay that information to the operator in virtual reality (VR). (2) They can receive instructions from the operator that are executed by the robot. However, the deficiency of these kind of systems is that they heavily rely on knowledge of expert programmers when the robot's capabilities or hardware are to be reconfigured, altered or upgraded. This late breaking report proposes to introduce a third important advancement on remotely instructed robots: (3) Intuitive programming modifications by operators who are non-programmers but have basic knowledge of hardware, and most importantly, have experience of the weaknesses in particular handling tasks.