Teleoperation system for robotic manipulation, and methods, apparatus, and systems thereof

A teleoperation system, comprising:

• a robotic controller comprising one or more joysticks, a plurality of second joints, and one or more triggers and configured to translate a plurality of user inputs to a plurality of robotic control signals;
• a robotic manipulator, configured to operate separately from the robotic controller and to receive robotic control signals from the robotic controller, the robotic manipulator comprising a plurality of first joints and an end effector,
• wherein the robotic manipulator is configured to assume a plurality of poses, and
• wherein each respective pose of the plurality of poses corresponds to a respective configuration of the plurality of first joints;
• and
• a feedback system, operatively coupled to the robotic manipulator, the feedback system configured to generate feedback information and transmit the feedback information to the robotic controller,
• wherein the feedback information includes information that indicates a current pose of the robotic manipulator, including the respective configuration of the plurality of first joints corresponding to the current pose of the robotic manipulator.

A method comprising:

• at a robotic controller comprising a plurality of first joints corresponding to a plurality of second joints of a robotic manipulator that is in communication with the robotic controller:
• while the robotic controller is operating in a calibration mode, receiving a plurality of user inputs manipulating the plurality of first joints of the robotic controller;
• in response to receiving the plurality of user inputs manipulating the plurality of first joints of the robotic controller, transmitting controller pose information to a robotic manipulator in communication with the robotic controller, wherein the controller pose information is based on a current pose of the plurality of first joints of the robotic controller;
• receiving feedback information from the robotic controller, wherein the feedback information includes information corresponding to a pose of the plurality of second joints of the robotic manipulator;
• in accordance with a determination that the current pose of the plurality of first joints is different than the pose of the plurality of second joints of the robotic manipulator, generating haptic feedback based on an amount by which the current pose of the plurality of first joints differs from the pose of the plurality of second joints of the robotic manipulator;
• and
• in accordance with a determination that the current pose of the plurality of first joints is same as the pose of the plurality of second joints of the robotic manipulator, switching the robotic controller to operate in a control mode.