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Kremer, Philipp und Kuschel, Martin und Preusche, Carsten und Buss, Martin und 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, 2009-05-12 - 2009-05-17, Kobe, Japan.
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Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/62536/ | ||||||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag, Paper) | ||||||||||||||||||||||||
| Titel: | Passive Event-Based Extrapolation for Lossy Haptic Data Compression in Bilateral Presence Systems | ||||||||||||||||||||||||
| Autoren: |
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| Datum: | 12 Mai 2009 | ||||||||||||||||||||||||
| Erschienen in: | Proceedings | ||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | Passive Event-Based Extrapolation, Lossy Haptic Data Compression, Bilateral Presence Systems | ||||||||||||||||||||||||
| Veranstaltungstitel: | ICRA2009, International Conference on Robotics and Automation | ||||||||||||||||||||||||
| Veranstaltungsort: | Kobe, Japan | ||||||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
| Veranstaltungsbeginn: | 12 Mai 2009 | ||||||||||||||||||||||||
| Veranstaltungsende: | 17 Mai 2009 | ||||||||||||||||||||||||
| Veranstalter : | IEEE | ||||||||||||||||||||||||
| HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||||||||||||||||||||
| HGF - Programm: | Weltraum (alt) | ||||||||||||||||||||||||
| HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Schwerpunkt: | Weltraum | ||||||||||||||||||||||||
| DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | ||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||||||||||||||||||||
| Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||||||||||
| Hinterlegt am: | 14 Jan 2010 17:16 | ||||||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 19:27 |
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