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We propose the so-called TeleSensorProgramming concept that uses sensory perception to achieve local autonomy in robotic manipulation. Sensor based robot tasks are used to define elemental moves within a high level programming environment. This approach is applicable in both, the real robot's world and the simulated one. Beside the graphical off-line programming concept, the range of application lies especially in the field of teleoperation with large time delays. A shared autonomy concept isdoi:10.1109/iros.1994.407532 dblp:conf/iros/BrunnerAH94 fatcat:k5chkde6ofgxhmbyv4n4bbeyb4