Event

Proposes actuator-constraint-aware robotic arm teleoperation method

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Xuhan Miao et al. propose an actuator-constraint-aware master-slave teleoperation method that jointly models master-side gravity compensation, master-slave joint mapping, and slave-side differential wrist control for teleoperation of coupled-transmission robotic arms. The method addresses the problem that in differential wrists, saturation of independent motors disrupts pitch-roll coordination, and fixed mapping struggles to cope with abrupt tracking changes caused by gravity loads and actuator constraints. Real-robot experiments show that, compared with direct mapping, this method yields smoother wrist trajectories and more continuous recovery. The work was submitted to the IROS 2026 workshop "5th Sensorimotor-Augmented Teleoperation".