Four-channel bilateral control is a method for achieving remote control with force feedback and adjustment operability by synchronizing the positions and forces of two manipulators. This is expected to significantly improve the operability of the remote control in contact-rich tasks. Among these, 4-channel bilateral control on the Cartesian coordinate system is advantageous owing to its suitability for manipulators with different structures and because it allows the dynamics in the Cartesian coordinate system to be adjusted by adjusting the control parameters, thus achieving intuitive operability for humans. This paper proposes a 4-channel bilateral control method that achieves the desired dynamics by decoupling each dimension in the Cartesian coordinate system regardless of the scaling factor.

翻译：四通道双边控制是一种通过同步两个机械臂的位置和力来实现具有力反馈和可调节操作性的远程控制方法。该方法有望在接触密集型任务中显著提升远程控制的操作性。其中，笛卡尔坐标系下的四通道双边控制因其适用于不同结构的机械臂，且允许通过调整控制参数来调节笛卡尔坐标系中的动力学特性，从而实现对人类而言直观的操作性而具有优势。本文提出了一种四通道双边控制方法，该方法无论缩放因子如何，都能通过在笛卡尔坐标系中解耦每个维度来实现期望的动力学特性。