Tutorial session at ICAR 2023

Advancements in Bilateral Teleoperation: Combining Passivity-Based Control with Optimal Control

Abu Dhabi, 2023/12/05 – Half day tutorial session

Welcome to our half-day tutorial session, where we delve deep into bilateral teleoperation architectures, highlighting their surgical applications and the seamless integration of force feedback, passivity-based control, and optimal control. Led by Professors Riccardo Muradore and Paolo Fiorini, along with Dr. Nicola Piccinelli and Dr. Andrea Roberti from Altair Robotics Lab, University of Verona, prepare for an enlightening exploration.


Bilateral teleoperation systems are usually exploited to improve human awareness and skills when remotely controlling robotic manipulators in critical scenarios such as in surgery. Teleoperation has also been “augmented” by making it possible to execute specific tasks in an autonomous way and leaving the operator only to master the most complex phases. The interweaving between robotics and AI is a promising research area with high potential impact. One of the most significant contributions of this technology in the past 30 years has been its exploitation in Robotic Minimally Invasive Surgery (R-MIS), which benefits surgeons, patients, and hospitals. However, ensuring stability and performance of these systems when communication delays are present and the remote environment is partly known or completely unknown, remains a challenge.

This tutorial will discuss the latest developments in bilateral teleoperation technology and provide insights into future advancements that combine Passivity Based Control (PBC) with Optimal and Model Predictive Control (MPC).


Khalifa University Main Campus, Abu Dhabi, UAE

Time Topic
09.00 – 10.00 Teleoperation in robotic surgery: the outcomes of the EU funded projects ISUR, ARS, SARAS, GEYEDANCE Prof. Fiorini
10.00 – 11.00 Force feedback in bilateral teleoperation Prof. Muradore
11.00 – 11.15 Coffee break
11.15 – 12.15 Passivity-based control and two-layer approach Dr. Piccinelli, Dr. Roberti
12.15 – 13.00 Bilateral teleoperation as optimal control and passive MPC Dr. Piccinelli



Nicola Piccinelli Ph.D

University of Verona

Prof. Riccardo Muradore

University of Verona

Prof. Paolo Fiorini

University of Verona

Andrea Roberti Ph.D

University of Verona



Nicola Piccinelli – nicola.piccinelli@univr.it