### Abstract

Task space mapping approaches for bilateral teleoperation, namely object-centered ones, have yielded the most promising results. In this paper, we propose an invertible mapping approach to realize teleoperation through online motion mapping by taking into account the locations of objects or tools in manipulation skills. It is applied to bilateral teleoperation, with the goal of handling different object/tool/landmark locations in the user and robot workspaces while the remote objects are moving online. The proposed approach

### Bibtex reference

@article{Gao21CIS,
author="Gao, X. and Silv\'erio, J. and Calinon, S. and Li, M. and Xiao, X.",
}