In this paper we present a novel approach for intuitive telemanipulation in Cartesian space and discuss the results of a user study evaluating different aspects of our approach. The proposed method inhibits certain degrees of freedom based on the current viewpoint. Together with automatic mapping of the input device to corresponding motion axes, our approach provides a very intuitive method for controlling the telemanipulation system while reducing the mental workload of the operator and therefore the amount of erroneous commands. Similar principles apply for controlling the viewpoint of real or virtual cameras to facilitate manipulation or navigation tasks.

In order to enable robots to execute highly dynamic tasks in dangerous or remote environments, a semiautomatic teleoperation concept has been developed and will be presented in this paper. It relies on a modular software architecture, which allows intuitive control over the robot and compensates latency-based risks by using Augmented Reality techniques together with path prediction and collision avoidance to provide the remote user with visual feedback about the tasks and skills that will be executed. Based on this architecture different skills with high dynamics are integrated in the robot control, so that they can be executed autonomously without the delayed feedback of the user. The skill-based grasping by adherence of smooth or fragile objects during a remote controlled picking and placing task will be exemplary presented.