Teleoperation of Humanoid Robots: A Survey

Kourosh Darvish, Luigi Penco, Joao Ramos, Rafael Cisneros, Jerry Pratt, Eiichi Yoshida, Serena Ivaldi, Daniele Pucci

Research output: Contribution to journalArticlepeer-review


Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform for a wide range of applications when teleoperating in a remote environment. However, the complexity of humanoid robots imposes challenges for teleoperation, particularly in unstructured dynamic environments with limited communication. Many advancements have been achieved in the last decades in this area, but a comprehensive overview is still missing. This survey article gives an extensive overview of humanoid robot teleoperation, presenting the general architecture of a teleoperation system and analyzing the different components. We also discuss different aspects of the topic, including technological and methodological advances, as well as potential applications.

Original languageEnglish (US)
Pages (from-to)1706-1727
Number of pages22
JournalIEEE Transactions on Robotics
Issue number3
StatePublished - Jun 2023


  • Electromyography
  • Humanoid robot
  • Humanoid robots
  • Muscles
  • Optical sensors
  • Robot sensing systems
  • Robots
  • Task analysis
  • teleoperation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Teleoperation of Humanoid Robots: A Survey'. Together they form a unique fingerprint.

Cite this