<title>Structured beam projection for semiautomatic teleoperation</title>

Abstract

This paper presents a robotic architecture that facilitates semi-automatic teleoperation of a dual-arm manipulator system.The architecture is built upon reactive behavior agents tightly coupling sensing and action, where emergent behaviors correlate human intervention with sensor-based autonomous operation.Reactive agents are devised for perceptual and motor behaviors, and a structured light system is adopted to provide a visual reference to both behavioral agents and the human operator.The technical feasibility of the robotic behaviors is evaluated through simulation of the collaborative motion of a dual-arm manipulator.The presented sensor based semi-automatic teleoperation may improve human perception and simplify human action, and thus improve the etllciency and precision of teleoperation.