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 and discuss design and research implications of our work for future robotic camera system that facilitate remote collaboration.

翻译：摘要：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作工作提供新功能。在Periscope系统中，本地工作者完成操作任务，远程辅助者通过安装在半自主机械臂上的摄像头观察工作空间，该机械臂与工作者位于同一位置。我们的核心洞察在于：辅助者、工作者与机器人应共同承担摄像视角的控制责任——我们称之为共享摄像头控制方法。基于此方法，我们提出一系列模式，根据任务需求在人类协作者与自主机器人之间分配摄像头控制权。通过一项包含12组受试者协作完成装配任务的初步研究，我们验证了系统的实用性及共享摄像头控制的前景，并探讨了本研究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。