A simple bilateral teleoperation law that clamps the leader's control input to the follower's input achieves both easy free motion and stable contact on low-cost hardware.
GELLO: A General, Low-Cost, and Intuitive T eleopera- tion Framework for Robot Manipulators,
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Input-gated Bilateral Teleoperation: An Easy-to-implement Force Feedback Teleoperation Method for Low-cost Hardware
A simple bilateral teleoperation law that clamps the leader's control input to the follower's input achieves both easy free motion and stable contact on low-cost hardware.