In this work we propose a framework for bimanual teleoperation that includes two control strategies: (i) the classic one-to-one coupling of the human and robotic arms (which allows to fully exploit the user dexterity) and (ii) a new shared autonomy strategy, in which the two robotic arms are controlled through the movements and gestures of just one user's arm (relaxing the user's cognitive load). Moreover, the use of tele-impedance allows the user to also control the remote physical interaction.

This paper studies a vertical powered descent problem in the context of planetary landing, considering glide-slope and thrust pointing constraints and minimizing any final cost. In a first time, it proves the Max-Min-Max or Max-Singular-Max form of the optimal control using the Pontryagin Maximum Principle, and it extends this result to a problem formulation considering the effect of an atmosphere. It also shows that the singular structure does not appear in generic cases. In a second time, it theoretically analyzes the optimal trajectory for a more specific problem formulation to show that there can be at most one contact or boundary interval with the state constraint on each Max or Min arc.

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