Deictic human/robot interaction

Abstract This paper discusses adeictic strategy for human/robot interaction based on models of human motor control. The human operator uses gestures to momentarily bind autonomous robot routines to a goal behavior and spatial context. As a result, the operator communicates symbolically, rather than literally control the robot, and the robot benefits from the operator's on-line reasoning. The strategy calledteleassistance, has been implemented for dexterous manipulation. A review of the results demonstrates that teleassistance requires executive operator control for only a fraction of the total task time and can accommodate natural variations in tasks better than what the autonomous routines alone can.

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