  A drawing robot avatar is a robotic system that allows for telepresence-based
drawing, enabling users to remotely control a robotic arm and create drawings
in real-time from a remote location. The proposed control framework aims to
improve bimanual robot telepresence quality by reducing the user workload and
required prior knowledge through the automation of secondary or auxiliary
tasks. The introduced novel method calculates the near-optimal Cartesian
end-effector pose in terms of visual feedback quality for the attached
eye-to-hand camera with motion constraints in consideration. The effectiveness
is demonstrated by conducting user studies of drawing reference shapes using
the implemented robot avatar compared to stationary and teleoperated camera
pose conditions. Our results demonstrate that the proposed control framework
offers improved visual feedback quality and drawing performance.
