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Robot teleoperation has been widely investigated in various applications (Shahbazi et al., IEEE Trans Hapt 11(3):338–356 (2018) [1]), including healthcare (Feizi et al., Front Robot AI 8:610677 (2021) [2]) and aerospace (Panzirsch et al., Paper presented at the 2020 IEEE Aerospace Conference, Big Sky (2020) [3]), etc. Most of the existing teleoperation methods are based on a leader-follower mode, where the operator manipulates a leader to tele-manipulate or send commands to the remote follower robot(s) (Shahbazi et al., IEEE Trans Hapt 11(3):338–356 (2018) [1]). Within this mode, the single-leader-dual-follower (SLDF) teleoperation system, as shown in Fig. 1.1, has drawn numerous researchers’ attention recently because it has a unique advantage of alleviating the operator’s workload while conducting almost the same amount of work.

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Motion Regulation Solutions for Holding and Moving Objects in Single-Leader-Dual-Follower Teleoperation

  • 章节

  • 发表日期：

    2025年

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  • Chenguang Yang,
  • Zhenyu Lu,
  • Ning Wang

摘要

Robot teleoperation has been widely investigated in various applications (Shahbazi et al., IEEE Trans Hapt 11(3):338–356 (2018) [1]), including healthcare (Feizi et al., Front Robot AI 8:610677 (2021) [2]) and aerospace (Panzirsch et al., Paper presented at the 2020 IEEE Aerospace Conference, Big Sky (2020) [3]), etc. Most of the existing teleoperation methods are based on a leader-follower mode, where the operator manipulates a leader to tele-manipulate or send commands to the remote follower robot(s) (Shahbazi et al., IEEE Trans Hapt 11(3):338–356 (2018) [1]). Within this mode, the single-leader-dual-follower (SLDF) teleoperation system, as shown in Fig. 1.1, has drawn numerous researchers’ attention recently because it has a unique advantage of alleviating the operator’s workload while conducting almost the same amount of work.