{"ID":5554337,"CreatedAt":"2026-07-02T02:11:27.934456424Z","UpdatedAt":"2026-07-04T17:22:49.717376202Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.01201","arxiv_id":"2607.01201","title":"Sensorless Four-Channel Control Architecture Using Inverse Dynamics Modeling for Human-Scale Bilateral Teleoperation","abstract":"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 sensors. This paper introduces a sensorless four-channel architecture based on inverse dynamics modeling. The controller is implemented and validated on a customized WAM bilateral teleoperation setup. Experiments demonstrate that the proposed approach outperforms conventional two- and four-channel schemes as well as transparency-enhancement methods, improving position and force tracking, reducing operator effort, and increasing maximum transmittable impedance without external sensors. A door-opening case study involving sustained whole-body contact along the manipulator further demonstrates the effectiveness of the method in realistic human-scale manipulation tasks.","short_abstract":"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 sensors. This paper introduces a sensorless fo...","url_abs":"https://arxiv.org/abs/2607.01201","url_pdf":"https://arxiv.org/pdf/2607.01201v1","authors":"[\"Amir Noohian\",\"Dylan Miller\",\"Justin Valentine\",\"Alan Lynch\",\"Martin Jagersand\"]","published":"2026-07-01T17:37:48Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}