Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback
G. Q. Bao Tran, Takanori Miyoshi, Ho Duc Tho · N/A · 2026
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Summary
We study bilateral teleoperation between nonlinear, multi-DOF robotic manipulators in the presence of constant communication delays.
Abstract Summary
Key Points
- 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
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}
}
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