Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback

Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback

|Authors: G. Q. Bao Tran, Takanori Miyoshi, Ho Duc Tho

|Venue: arXiv preprint | Year: 2026

|arXiv: 2608.20043v1

Abstract

We study bilateral teleoperation between nonlinear, multi-DOF robotic manipulators in the presence of constant communication delays. Unlike classical wave-transformation architectures that transmit a coordinating force, we consider the case where the environmental force is reflected to the master side to enhance teleoperation transparency. Since direct contact force feedback might destabilize the closed-loop system, we first develop a passivity-shortage characterization for the Euler—Lagrange remote system using a linear matrix inequality (LMI) approach. An upper strictly passive communication law is then employed to compensate for the computed passivity shortage so that the closed-loop stability under delays as well as position and force synchronization are preserved under appropriate conditions. Simulations with nonlinear 2-DOF robotic manipulators in different settings illustrate our approach.

Key Contributions

• We study bilateral teleoperation between nonlinear, multi-DOF robotic manipulators in the presenc…
• Unlike classical wave-transformation architectures that transmit a coordinating force, we conside…
• Since direct contact force feedback might destabilize the closed-loop system, we first develop a …
• An upper strictly passive communication law is then employed to compensate for the computed passi…
• Simulations with nonlinear 2-DOF robotic manipulators in different settings illustrate our approach

Topics

• learning-from-demonstration

Code & Data

No code repository linked in paper metadata.

BibTeX

@article{Tran2026_260820043v1,
  title     = {Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback},
  author    = {G. Q. Bao Tran and Takanori Miyoshi and Ho Duc Tho},
  year      = {2026},
  eprint    = {2608.20043v1},
  archivePrefix = {arXiv},
  primaryClass  = {eess.SY},
  url       = {https://arxiv.org/abs/2608.20043v1}
}