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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. In: Proceedings. ICRA2009, International Conference on Robotics and Automation, 12. Mai - 17. Mai 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 (Speech, 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, CarstenCarsten.Preusche@dlr.de
Buss, MartinMartin.Buss@ei.tum.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:12 May 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Passive Event-Based Extrapolation, Lossy Haptic Data Compression, Bilateral Presence Systems
Event Title:ICRA2009, International Conference on Robotics and Automation
Event Location:Kobe, Japan
Event Type:international Conference
Event Dates:12. Mai - 17. Mai 2009
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:14 Jan 2010 17:16
Last Modified:12 Dec 2013 20:51

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