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Leader-Follower Teleoperation

OpenArm supports 1:1 teleoperation from a leader arm to a follower arm in two control modes:

Unilateral Control​

This is the basic teleoperation setup, where the follower arm directly mimics the leader’s movements through position commands. It’s a one-way control scheme — the leader sends motion commands, but no force feedback is returned.

  • Pros: Simple and robust; ideal for initial tests and free-space motion
  • Cons: No tactile feedback, making it easy to apply excessive force or lose alignment during contact tasks
  • Best for: Basic teleoperation, open-space manipulation, fast and lightweight operations without contact forces
Unilateral leader-follower control

Bilateral Control​

Bilateral control enables two-way force feedback between the leader and follower arms, allowing the operator to feel what the follower arm touches.

For detailed setup and configuration, see the Bilateral Control guide.

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