## 1 Introduction
A Leap Motion Controller was used to capture the user's hand pose to control the position of the robotic arm and the grasping configuration of the robotic hand. Although the hybrid teleoperation with the robotic arm and gripper provides the potential to perform multiple manipulation tasks, it is limited to the fields of one handheld objects. However, one hand manipulation only occupies a very small proportion in real applications, whereas most of the occasions involve collaboration between two hands. With the increase of the complexity of robotic manipulation tasks, bimanual manipulation becomes increasingly popular [20; 21]. Some bimanual teleoperation systems with dual arms and dual grippers have been developed for bimanual tasks. [PERSON] and [PERSON] developed a Kinect-based noncontact human-robot interface for potential bimanual tasks [22]. Human gestures were recorded as the command in the bimanual teleoperation. [PERSON] et al. presented a bimanual teleoperated system for endonasal skull base surgery [23]. Two haptic devices were used to teleoperate the two cannulas in the bimanual active cannula robot. Moreover, [PERSON] et al. proposed a markerless human-robot interface for bimanual tasks by using a Leap Motion Controller with interval Kalman filter and improved particle filter [24]. Hand gestures were used in the teleoperation of the dual arms and dual grippers. [PERSON] et al. suggested a sensory subtraction technique to force feedback in robot-assisted surgery [25]. Two Omega 7 and four fingertip skin deformation devices were adopted as the haptic interfaces in a challenging 7 DoFs bimanual teleoperation task. [PERSON] et al. investigated the cooperation of dual arm robot and humans for flexible assembly [26]. Besides, some research efforts have been devoted to the mobile bimanual robotic teleoperation [27]. Compared with the simple configuration with one arm and one gripper, two arms are better than one for assistive bimanual manipulation tasks. With the dual arms and dual grippers, the bimanual teleoperation system enables the robot to handle more complex and challenging tasks that are not feasible with one single arm and one gripper, in the same sense as human beings. It provides more opportunities in real applications. However, the bimanual configuration also raises a number of challenges such as higher complexity, uncertainty, and difficult to perceive reliably, especially under those unstructured and uncontrolled scenarios [28]. Most of the bimanual teleoperation systems are limited to a small workspace and well-designed occasions, such as robot-assisted surgery. They are not suitable for most general unstructured applications, which involve a big workspace and can only rely on manually control by the human operator. In addition, the compliance of the robotic gripper is far less than the human hand [29]. The human-level robotic manipulation is still a critical issue, especially under those unconstrained and dynamic environments. Sophisticated control strategies are required to achieve precise manipulation, which not only increases the difficulties of the design but also raises the cost of the manufacturing [30]. How to make a compromise between the dexterity and complexity is a dilemma towards traditional rigid robotic grippers. Meanwhile, the soft gripper is unable to provide necessary grasping force to handle the large and heavy objects due to the lack of rigid support. Even though the soft material can produce large deformations to enhance grasping performance, the soft contact configurations are very sensitive and easy to fail in such a dynamic environment. To enhance the bimanual manipulation capability of the robotic system under teleoperated and unstructured environments, this paper presents a bimanual robotic teleoperation architecture with dual arms and dual grippers.