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arXiv · 2607.01201

Sensorless Four-Channel Control Architecture Using Inverse Dynamics Modeling for Human-Scale Bilateral Teleoperation

Amir Noohian·Dylan Miller·Justin Valentine·Alan Lynch·Martin Jagersand
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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.

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Amir Noohian, Dylan Miller, Justin Valentine, Alan Lynch, Martin Jagersand. 2026-07-01. Sensorless Four-Channel Control Architecture Using Inverse Dynamics Modeling for Human-Scale Bilateral Teleoperation. https://arxiv.org/abs/2607.01201

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