arxivcs.RO2026-07-01
Sensorless Four-Channel Control Architecture Using Inverse Dynamics Modeling for Human-Scale Bilateral Teleoperation
Amir Noohian, Dylan Miller, Justin Valentine, Alan Lynch, Martin Jagersand
The four-channel teleoperation architecture is a well-established framework for achieving transparency in bilateral systems. However, its performance in human-scale teleoperation is limited by high inertia, modeling challenges, and reliance on noisy and costly force/torque sensor…