<title>Point-and-click objective specification for a remote semiautonomous robot system</title>

摘要

The paper is directed toward describing a practical new means by which a remote user can, with a single image of the object surface of interest, specify objectives of a task which may be described in terms of positioning particular tool junctures relative to user-specified surface points. Also included in the paper is a robust means by which an uncalibrated, remote system -- consisting of a manipulator, two or more cameras, and a pan/tilt-mounted laser pointer -- may be used to carry out the maneuver with very high precision and reliability. This means is based upon the method of 'camera-space manipulation,' wherewith use is made of a conveniently located but uncalibrated laser pointer. The laser pointer is placed upon an uncalibrated, autonomously actuated, pan/tilt unit, and is used to create the compatible maneuver objectives in participating remote cameras, as required by camera-space manipulation. The paper discusses the range of tasks which should be achievable with the paradigm under discussion, as well as some comparisons between this paradigm and alternatives such as teleoperation and virtual-reality-based approaches. Finally, results from several experimental implementations of the method are presented.