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This research proposes an online bilateral predictive control architecture to address these issues. This control structure is established by predicting environment force and the user\u2019s future motion. The former uses a model-mediated approach by creating a virtual environment on the master side and the latter adopts an artificial neural network (ANN) for online operator\u2019s motion prediction. The slave controller utilizes transmitted data from ANN to generate required backbone lengths, which are then transformed into the slave's local bending and torsional degrees of freedom through the inverse kinematics of the robot. Motion prediction is examined in two scenarios: when the ANN predicts the trained motions, and when it predicts a different motion. Simulation studies demonstrate that the proposed online bilateral predictive teleoperation structure successfully achieves real-time position synchronization and force feedback, by effectively bypassing communication delays.<\/jats:p>","DOI":"10.1007\/s10846-024-02113-3","type":"journal-article","created":{"date-parts":[[2024,5,24]],"date-time":"2024-05-24T16:20:53Z","timestamp":1716567653000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Online Bilateral Predictive Control for Time-Delayed Teleoperation of Snake-like Robots"],"prefix":"10.1007","volume":"110","author":[{"given":"Mahdi","family":"Ebrahimian","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-1900-9636","authenticated-orcid":false,"given":"Mina","family":"Pourmokhtari","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Morteza","family":"Ghiyasi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8506-9768","authenticated-orcid":false,"given":"Behnam","family":"Yazdankhoo","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8408-5096","authenticated-orcid":false,"given":"Borhan","family":"Beigzadeh","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2024,5,24]]},"reference":[{"key":"2113_CR1","doi-asserted-by":"publisher","DOI":"10.1142\/S0219519423501063.p.2350106","author":"M Kadkhodazade","year":"2023","unstructured":"Kadkhodazade, M., Pourmokhtari, M., Yazdankhoo, B., Beigzadeh, B.: The Influence of Sex Factor on the Modeling of the Human Hand\/Arm Interacting with a Teleoperation System. 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