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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.
| Item URL in elib: | https://elib.dlr.de/59801/ | ||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||||
| Title: | Passive Event-Based Extrapolation for Lossy Haptic Data Compression in Bilateral Presence Systems | ||||||||||||||||||
| Authors: |
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| Date: | 2009 | ||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||
| Open Access: | No | ||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||
| 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 assignment | ||||||||||||||||||
| DLR - Research area: | Space | ||||||||||||||||||
| DLR - Program: | W - no assignment | ||||||||||||||||||
| DLR - Research theme (Project): | W - no assignment (old) | ||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||||
| Deposited By: | Kremer, Philipp | ||||||||||||||||||
| Deposited On: | 19 Nov 2009 10:55 | ||||||||||||||||||
| Last Modified: | 12 Dec 2013 20:42 |
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- Passive Event-Based Extrapolation for Lossy Haptic Data Compression in Bilateral Presence Systems. (deposited 19 Nov 2009 10:55) [Currently Displayed]
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