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Passive Event-Based Extrapolation for Lossy Haptic Data Compression in Bilateral Presence Systems

Kremer, Philipp and Kuschel, Martin and Preusche, Carsten and Buss, Martin and Hirzinger, Gerd (2009) Passive Event-Based Extrapolation for Lossy Haptic Data Compression in Bilateral Presence Systems. 2009 IEEE International Conference on Robotics and Automation, 12-17 May 2009, Kobe, Japan.

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Abstract

A new lossy compression method is proposed for haptic (force, velocity) data as exchanged in bilateral telepresence systems. The method is based on the passive extrapolative compression strategy proposed in [1]. The innovation is that the extrapolations do not have a stiff horizon, but are triggered by considerable changes (events) in the target environment. This enables longer average extrapolation horizons and thus, higher compression. Experiments are conducted using two DLR Light Weight Robots. The results indicate that the method outperforms older implementations.

Document Type:Conference or Workshop Item (Paper)
Title:Passive Event-Based Extrapolation for Lossy Haptic Data Compression in Bilateral Presence Systems
Authors:
AuthorsInstitution or Email of Authors
Kremer, Philippphilipp.kremer@dlr.de
Kuschel, Martinmartin.kuschel@tum.de
Preusche, CarstenUNSPECIFIED
Buss, MartinUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2009
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 4338-4343
Series Name:Proceedings of the IEEE International Conference on Robotics and Automation
Status:Published
Keywords:Telepresence, Teleoperation, Data Compression, Haptics
Event Title:2009 IEEE International Conference on Robotics and Automation
Event Location:Kobe, Japan
Event Type:Conference
Event Dates:12-17 May 2009
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W - no assignement
DLR - Research area:Space
DLR - Program:W - no assignement
DLR - Research theme (Project):W -- no assignement (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Philipp Kremer
Deposited On:19 Nov 2009 10:55
Last Modified:12 Dec 2013 20:42

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