Perception-Motion Coupling in Active Telepresence: Human Behavior and Teleoperation Interface Design

Teleoperation enables complex robot platforms to perform tasks beyond the scope of current state-of-the-art autonomy by imparting human intelligence and critical thinking these operations. For seamless control platforms, it is essential facilitate optimal situational awareness workspace for operator through active telepresence cameras. However, cameras adds an additional degree complexity task teleoperation. In this paper we present our results from user study that investigates: (1) how teleoperator learns or adapts performing via modeled after camera placements on TRINA humanoid robot; (2) perception-action coupling operators implement cameras, (3) preferences tasks. These findings motion analysis post-study survey will help us determine desired design features teleoperation interfaces assistive autonomy.