This chapter introduces a dual-arm pose mapping teleoperation method that addresses the control challenges associated with robotic dual-arm coordination. Unlike single-arm systems, dual-arm robots can execute more complex tasks, but controlling both arms simultaneously can be burdensome for the operator. Traditional pose mapping systems struggle with coordinating actions between the arms and often require additional input devices for linked control. Building on single-arm teleoperation techniques, this chapter proposes a flexible and intuitive dual-arm pose mapping approach that allows seamless switching between operator control and fixture control while improving task efficiency. A significant improvement in this method is the incremental pose mapping strategy, which uses real-time relative human–robot pose transformation. This eliminates the need for tedious absolute coordinate calibration at the start of each task, simplifying the setup process and enhancing flexibility during operation. To validate the effectiveness of this approach, a pick-and-place task experiment was conducted, comparing the proposed incremental mapping method with traditional direct mapping teleoperation. Results indicate that the new method improves operational efficiency and is more accessible for users of varying skill levels.