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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. 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.
| Item URL in elib: | https://elib.dlr.de/62536/ | ||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||||
| Title: | Passive Event-Based Extrapolation for Lossy Haptic Data Compression in Bilateral Presence Systems | ||||||||||||||||||
| Authors: |
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| Date: | 12 May 2009 | ||||||||||||||||||
| Journal or Publication Title: | Proceedings | ||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||
| 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 (until 2012) > Robotic Systems | ||||||||||||||||||
| Deposited By: | Beinhofer, Gabriele | ||||||||||||||||||
| Deposited On: | 14 Jan 2010 17:16 | ||||||||||||||||||
| Last Modified: | 31 Jul 2019 19:26 |
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