{"id":"https://openalex.org/W7161765964","doi":"https://doi.org/10.48550/arxiv.2605.19255","title":"Bilateral Teleoperation with Compliant 6-DOF Pose-and-Force Sensing","display_name":"Bilateral Teleoperation with Compliant 6-DOF Pose-and-Force Sensing","publication_year":2026,"publication_date":"2026-05-19","ids":{"openalex":"https://openalex.org/W7161765964","doi":"https://doi.org/10.48550/arxiv.2605.19255"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.19255","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.19255","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.19255","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136544960","display_name":"Yue Feng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng, Yue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136572774","display_name":"Weicheng Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Weicheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136510726","display_name":"I-Ming Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, I-Ming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.8554999828338623,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.8554999828338623,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.04280000180006027,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.021199999377131462,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8935999870300293},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6560999751091003},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.5799999833106995},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5066999793052673},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.48030000925064087},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.46889999508857727},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4537999927997589},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.36419999599456787}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8935999870300293},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6560999751091003},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.5799999833106995},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5066999793052673},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.48030000925064087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47029998898506165},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.46889999508857727},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4537999927997589},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45210000872612},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37059998512268066},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.36419999599456787},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35120001435279846},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.33880001306533813},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.33379998803138733},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3237000107765198},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.321399986743927},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32109999656677246},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.301800012588501},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.25780001282691956}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.19255","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.19255","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.19255","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.19255","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.5065280795097351,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Existing":[0],"bilateral":[1,24],"teleoperation":[2,100],"platforms":[3],"still":[4],"rely":[5],"on":[6,27,47],"costly":[7],"rigid":[8],"six-axis":[9],"force/torque":[10],"sensors,":[11],"tightly":[12],"coupled":[13],"leader-follower":[14],"hardware,":[15],"and":[16,130,141],"kilohertz":[17],"control":[18],"loops.":[19],"We":[20],"present":[21],"a":[22,37,66,71,79,83,88,114,143],"Cartesian":[23],"framework":[25],"built":[26],"the":[28,76,106,120,135],"hardware-agnostic":[29],"WinGs":[30],"Operating":[31],"Studio":[32],"(WOS)":[33],"middleware,":[34],"in":[35,139,148],"which":[36],"low-cost":[38],"compliant":[39],"6-DOF":[40,58],"pose-and-force":[41],"sensing":[42],"end-effector,":[43],"Delta6,":[44],"is":[45],"mounted":[46],"both":[48],"sides":[49],"so":[50],"that":[51],"each":[52],"manipulator":[53],"behaves":[54],"as":[55],"an":[56],"end-effector":[57],"series":[59],"elastic":[60],"actuator":[61],"(SEA).":[62],"The":[63],"leader":[64],"runs":[65],"damping-only":[67],"admittance":[68],"loop":[69,86],"with":[70,87],"6-D":[72],"biquad":[73],"notch":[74],"filter;":[75],"follower":[77],"realizes":[78],"stiffness-damping":[80],"impedance":[81],"through":[82],"position-based":[84],"outer":[85],"PID":[89],"wrench-to-pose":[90],"mapping.":[91],"Three":[92],"time":[93],"scales":[94],"(hardware":[95],"I/O,":[96],"mid-rate":[97],"impedance/admittance,":[98],"low-rate":[99],"messages)":[101],"are":[102],"explicitly":[103],"decoupled,":[104],"enabling":[105],"same":[107],"application":[108],"to":[109,127],"drive":[110],"heterogeneous":[111],"arms.":[112],"On":[113],"Lite6/FR3":[115],"testbed":[116],"at":[117],"150":[118],"Hz,":[119],"system":[121],"tracks":[122],"stably":[123],"under":[124],"delays":[125],"up":[126],"$120\\pm40$":[128],"ms":[129],"1%":[131],"packet":[132],"loss,":[133],"matches":[134],"prescribed":[136],"virtual":[137],"stiffness":[138],"contact,":[140],"shows":[142],"favorable":[144],"cumulative":[145],"energy":[146],"signature":[147],"passivity-style":[149],"tests.":[150]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-21T00:00:00"}