A very high level interface to teleoperate a robot via Web including augmented reality

The system consists of a multirobot architecture that gives access to an educational and an industrial robot, through the Internet, by using advanced multimedia and distributed programming tools like Java, Java3D and CORBA. The main effort is focused on the user interface that allows specification of a task into a 3D model and sending commands to the real robot once the operator approves them. This kind of interaction has the ability to consume very little bandwidth in order to perform a remote manipulation via the Internet. The user interface offers augmented and virtual reality possibilities to the users, as well as object recognition in order to specify commands to the robot in a natural way. This high-level task specification would not be possible without the grasping determination module, which suggests manipulation characteristics for every scene´s object