Model-based telerobotics with vision

Abstract

We describe an implemented model-based telerobotic system designed to investigate assembly and other tasks involving contact and manipulation of known objects. Key features of our system include ease of maintaining a world model at the operator site and a task-centric operator interface. Our system incorporates gray-scale model-based vision to assist in building and maintaining the local model. The local model is used to provide a task-centric operator interface, emphasizing the natural and direct manipulation of objects, with the robot's presence indicated in a more abstract fashion. The operator interface is designed to work with widely available and inexpensive desktop computers with low DOF input devices (such as a mouse). We also describe experimental results to date, which include performing assembly-like tasks over the Internet.