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ROMAN TUTOR A Robot Manipulation Tutoring Simulator

ROMAN TUTOR A Robot Manipulation Tutoring Simulator. Froduald Kabanza & Khaled Belghith Université de Sherbrooke Roger Nkambou & Mahie Khan Université du Québec à Montréal Leo Hartman Canadian Space Agency. Learner Interface. The learner interface with its three monitors:

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ROMAN TUTOR A Robot Manipulation Tutoring Simulator

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  1. ROMAN TUTOR A Robot Manipulation Tutoring Simulator Froduald Kabanza & Khaled Belghith Université de Sherbrooke Roger Nkambou & Mahie Khan Université du Québec à Montréal Leo Hartman Canadian Space Agency

  2. Learner Interface The learner interface with its three monitors: • Each monitor is mapped to a camera (selected among 14 cameras) • Each camera can be rotated and zoomed in/out • The SSRMS is manipulated in two modes : FOR mode or Joint by Joint mode. • On the bottom we have a trace window

  3. Recognition Task • Recognition tasks train to recognize the different elements in the workspace • Here the learner is shown an element of the ISS and asked to name it

  4. Localization Task • Localization tasks train to locate ISS elements and to relate them spatially to each others • Here the learner is shown an element of the ISS and asked to name it and to find out the camera selected in the monitor

  5. Goto Task • In Goto tasks the learner is asked to move the robot from one configuration to another • Here the learner can be provided with an animation illustrating the requested task

  6. How to? • At any point during a task the learner can ask for help about how to achieve his task • Here the student is accessing the “path planner” menu. • FADPRM path-planner is invoked to calculate a path from the current configuration to a given goal configuration. • The path can be animated for a better illustration of the task

  7. FADPRM: Anytime Dynamic Path-Planner • FADPRM takes into account the field of view of cameras on the ISS. • Here we illustrate a path calculated by FADPRM taking into account the disposition of cameras on monitor 2 and monitor 3.

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