Towards semi autonomy for teleoperation in robotic glovebox operations

Robotic glovebox operations are the future of maintenance and repair tasks in the nuclear industry, as we aim to avoid hazardous environments for operators and increase operation capability. Automatic and teleoperated robotic tasks are the current way to perform operations but face many challenges, including robustness, flexibility and reliability. We present the concept of semi-autonomous operations, where additional assistance is given by and to the operator in order to reduce operational ambiguity and improve task performance. Instead of full manual control or automatic execution of code, the operator is both aided during manual control and themselves can control the execution of automated code. Initial results of its implementation for both automatic and teleported task are given, focused on object grasping and radiation surveying.