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.
@article{arxiv.2505.12450,
title = {A Robot Simulation Environment for Virtual Reality Enhanced Underwater Manipulation and Seabed Intervention Tasks},
author = {Sumey El-Muftu and Berke Gur},
journal= {arXiv preprint arXiv:2505.12450},
year = {2025}
}
Comments
7 pages with 8 figures; presented in the AQ2UASIM: Advancing Quantitative and Qualitative SIMulators for Marine Applications workshop held as a part of the IEEE International Conference on Robotics and Automation (ICRA) 2025