# Two-Layer-Based Multiarms Bilateral Teleoperation Architecture

> Research article (IEEE Transactions on Control Systems Technology, 2022) · cited 17× · AI/ML

**Wikidata**: [openalex:W4313141885](https://www.wikidata.org/wiki/openalex:W4313141885)  
**Source**: https://4ort.xyz/entity/two-layer-based-multiarms-bilateral-teleoperation-architecture