The EU Framework Programme for Research and Innovation H2020 Research and Innovation Action Deliverable D4.4 Switching between Direct Control and Prediction Mode

To create an intuitive access to the robotic system at hand, we propose to use its Digital Twin (DT)—a virtual copy of the used robot with all necessary details of the mechatronic system, its construction, function, use and application. To do so, these DTs are embedded into a Virtual Testbed (VTB) (a software framework for cross-system, -discipline, and -application development on a system level) to gain insight into complex system by having a bidirectional online data stream and interaction between human, DT, and Real Twin (RT). Intuitive user interfaces, the DT, and hardware interfaces are the requirements for this and can be used to fuse reality and virtuality to develop, monitor, and control the robotic system through the DT. Such DTs can then be used in various applications, here focusing on mobile robots for catastrophic scenarios where an effective coupling of human and robot skills is inevitable for a successful mission.