Remote Telemanipulation with Adapting Viewpoints in Visually Complex Environments.

Rakita, D., B. Mutlu, and M. Gleicher. “Remote Telemanipulation With Adapting Viewpoints in Visually Complex Environments.”. Robotics: Science and Systems, 2019.


In this paper, we introduce a novel method to support remote telemanipulation tasks in complex environments by providing operators with an enhanced view of the task environment. Our method features a novel viewpoint adjustment algorithm designed to automatically mitigate occlusions caused by workspace geometry, supports visual exploration to provide operators with situation awareness in the remote environment, and mediates context-specific visual challenges by making view- point adjustments based on sparse input from the user. Our method builds on the dynamic camera telemanipulation viewing paradigm, where a user controls a manipulation robot, and a camera-in-hand robot alongside the manipulation robot servos to provide a sufficient view of the remote environment. We discuss the real-time motion optimization formulation used to arbitrate the various objectives in our shared-control-based method, partic- ularly highlighting how our occlusion avoidance and viewpoint adaptation approaches fit within this framework. We present results from an empirical evaluation of our proposed occlusion avoidance approach as well as a user study that compares our telemanipulation shared-control method against alternative telemanipulation approaches. We discuss the implications of our work for future shared-control research and robotics applications.

DOI: 10.15607/rss.2019.xv.068


	doi = {10.15607/rss.2019.xv.068},
	url = {},
	year = 2019,
	month = {jun},
	publisher = {Robotics: Science and Systems Foundation},
	author = {Daniel Rakita and Bilge Mutlu and Michael Gleicher},
	title = {Remote Telemanipulation with Adapting Viewpoints in Visually Complex Environments},
	booktitle = {Robotics: Science and Systems {XV}}