Toward telemanipulation via 2-D interface-concept and first result of 'Titi'

A robotic telemanipulation method, which enables an operator to command various manipulation tasks from remote site using only 2D interface is proposed. The operator treats a real task environment through robot's sights as if it were a virtual one in a CAD system, and is able to set a variety of spatial task constraints easily on the spot. Two fundamental techniques, real-world drawing and parametric modeling, are explained. By incorporating the Internet, this method will enable the operator to teach robot motions ubiquitously from anywhere and offer a wide range of application.