TriPilot-FF: Coordinated Whole-Body Teleoperation with Force Feedback

Abstract

Mobile manipulators broaden the operational envelope for robot manipulation. However, the whole-body teleoperation of such robots remains a problem: operators must coordinate a wheeled base and two arms while reasoning about obstacles and contact. Existing interfaces are predominantly hand-centric (e.g., VR controllers and joysticks), leaving foot-operated channels underexplored for continuous base control. We present TriPilot-FF, an open-source whole-body teleoperation system for a custom bimanual mobile manipulator that introduces a foot-operated pedal with lidar-driven pedal haptics, coupled with upper-body bimanual leader-follower teleoperation. Using only a low-cost base-mounted lidar, TriPilot-FF renders a resistive pedal cue from proximity-to-obstacle signals in the commanded direction, shaping operator commands toward collision-averse behaviour without an explicit collision-avoidance controller. The system also supports arm-side force reflection for contact awareness and provides real-time force and visual guidance of bimanual manipulability to prompt mobile base repositioning, thereby improving reach. We demonstrate the capability of TriPilot-FF to effectively ``co-pilot'' the human operator over long time-horizons and tasks requiring precise mobile base movement and coordination. Finally, we incorporate teleoperation feedback signals into an Action Chunking with Transformers (ACT) policy and demonstrate improved performance when the additional information is available. We release the pedal device design, full software stack, and conduct extensive real-world evaluations on a bimanual wheeled platform. The project page of TriPilot-FF is http://bit.ly/46H3ZJT.