人形机器人因其类人结构与行为模式，在复杂环境中展现出良好的适应能力。然而，受限于当前自主智能水平，机器人在高风险、高复杂度任务中仍难以独立完成操作。作为关键补充，双臂遥操作技术通过引入人类操作者的意图与判断，实 现对机器人双臂的精细控制，成为推动其实际应用的重要路径。本文系统梳理了人形机器人的发展历程与感知、认知、控制等关键技术，重点分析双臂遥操作在人机映射、多模态反馈与主从控制等方面的研究进展及典型应用。最后，本文探讨了双臂遥操作技术的发展挑战与未来趋势，旨在为后续研究与工程应用提供参考。

 Humanoid robots exhibit strong adaptability in complex environments due to their human-like structure and behavior patterns. However, limited by the current level of autonomous intelligence, they still struggle to complete operations independently in high-risk and high-complexity tasks. As a critical complement, dual-arm teleoperation technology introduces human intention and judgment into the control loop, enabling precise manipulation of the robot's arms and serving as an important pathway to practical deployment. This paper systematically reviews the development of humanoid robots and their key technologies in perception, cognition, and control. It focuses on recent advances and representative applications of dual-arm teleoperation in areas such as human-robot mapping, multimodal feedback, and master-slave control. Finally, the paper discusses the challenges and future directions of dual-arm teleoperation, aiming to provide insights for further research and engineering applications.