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A sequence of successive screenshots for the selected four phase HRC system case study. The screenshots contain the simulated environment, raw and processed video streams of the snake vision sensor and robot joint’s (7 in total) force / torque measurements. (A) Disaster Scenario (B) HRC Phase 1 (C) HRC Phase 2 (D−F) HRC Phase 3 (G−I) HRC Phase 4.
