We investigate how robotic camera systems can offer new capabilities to computer-supported cooperative work through the design, development, and evaluation of a prototype system called Periscope. With Periscope, a local worker completes manipulation tasks with guidance from a remote helper who observes the workspace through a camera mounted on a semi-autonomous robotic arm that is co-located with the worker. Our key insight is that the helper, the worker, and the robot should all share responsibility of the camera view--an approach we call shared camera control. Using this approach, we present a set of modes that distribute the control of the camera between the human collaborators and the autonomous robot depending on task needs. We demonstrate the system's utility and the promise of shared camera control through a preliminary study where 12 dyads collaboratively worked on assembly tasks. Finally, we discuss design and research implications of our work for future robotic camera systems that facilitate remote collaboration.

翻译：我们通过设计、开发并评估名为Periscope的原型系统，探究机器人摄像系统如何为计算机支持的协同工作提供新能力。在Periscope中，本地工作者完成操作任务，而远程助手通过安装在半自主机械臂（与工作者共处同一空间）上的摄像头观察工作空间并给予指导。我们的核心洞见是：助手、工作者与机器人应共同分担摄像头视角的控制责任——这一方法被称为共享摄像头控制。基于此方法，我们提出一组模式，可根据任务需求在人机协作伙伴与自主机器人之间分配摄像头控制权。通过一项初步研究（12组双人协作完成装配任务），我们验证了系统的实用性与共享摄像头控制的潜力。最后，我们探讨了该工作对未来促进远程协作的机器人摄像系统的设计与研究启示。