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Related Experiment Video

Updated: Sep 2, 2025

Author Spotlight: Insights into the Analysis of Human Interaction with 3D Virtual Objects

Author Spotlight: Insights into the Analysis of Human Interaction with 3D Virtual Objects

Published on: October 18, 2024

Bilateral teleoperation with object-adaptive mapping.

Xiao Gao^1,2, João Silvério², Sylvain Calinon²

¹Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, China.

Complex & Intelligent Systems

|August 8, 2022

Summary

This summary is machine-generated.

This study introduces an invertible mapping for bilateral teleoperation, enabling robots to adapt to moving objects using online motion mapping. This approach enhances efficiency and adaptability in remote manipulation tasks.

Keywords:

Bilateral teleoperation Impedance control Invertible mapping Motion mapping

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Area of Science:

Robotics
Human-Computer Interaction
Control Systems

Background:

Bilateral teleoperation relies on task space mapping for effective remote control.
Object-centered approaches show promise but struggle with dynamic environments.
Handling varying object/tool/landmark locations in real-time remains a challenge.

Purpose of the Study:

To propose an invertible mapping approach for bilateral teleoperation.
To enable online motion mapping that accounts for object/tool locations.
To address the challenge of different workspace configurations and moving objects.

Main Methods:

Developed an invertible mapping strategy for online motion mapping.
Integrated impedance controllers for haptic feedback utilization.
Applied the approach to bilateral teleoperation with dynamic object handling.
Conducted experiments using two 7-axis torque-controlled Panda robots.

Main Results:

The proposed invertible mapping successfully generated online trajectories.
The approach effectively handled different object/tool/landmark locations.
Teleoperation experiments demonstrated higher efficiency and adaptability compared to traditional methods.
Successful execution of pick-and-place and valve-turning tasks was achieved.

Conclusions:

The invertible mapping approach offers a significant advancement in bilateral teleoperation.
It provides enhanced efficiency and adaptability for real-time remote manipulation.
The method is effective in dynamic environments with moving objects and varying configurations.