  Model Predictive Control (MPC) schemes have proven their efficiency in
controlling high degree-of-freedom (DoF) complex robotic systems. However, they
come at a high computational cost and an update rate of about tens of hertz.
This relatively slow update rate hinders the possibility of stable haptic
teleoperation of such systems since the slow feedback loops can cause
instabilities and loss of transparency to the operator. This work presents a
novel framework for transparent teleoperation of MPC-controlled complex robotic
systems. In particular, we employ a feedback MPC approach and exploit its
structure to account for the operator input at a fast rate which is independent
of the update rate of the MPC loop itself. We demonstrate our framework on a
mobile manipulator platform and show that it significantly improves haptic
teleoperation's transparency and stability. We also highlight that the proposed
feedback structure is constraint satisfactory and does not violate any
constraints defined in the optimal control problem. To the best of our
knowledge, this work is the first realization of the bilateral teleoperation of
a legged manipulator using a whole-body MPC framework.
