Human-robot cooperation for automated viewing during teleoperation

By automating viewing during teleoperation the operator can be released from the need to manually set camera viewing parameters, which distracts from the central component of the task, robotic manipulation. The challenge of automation is to manage the duality of automatic-control versus operator-in-control. Specifically, the operator needs to `feel´ in control, since otherwise confidence in the system, and hence performance, will be poor. We propose an approach that combines deliberative task models, models of human perception and reactive architectures. We use the peg-in-hole task as a case study and discuss the mapping of viewing requirements onto the camera resources defining the remote viewing facilities