Title :
Lossy data reduction methods for haptic telepresence systems
Author :
Kuschel, Martin ; Kremer, Philipp ; Hirche, Sandra ; Buss, Martin
Author_Institution :
Inst. of Autom. Control Eng., Technische Univ. Munchen, Garching
Abstract :
Telepresence systems are often deployed in scenarios where communication bandwidth is limited. Consequently, data exchanged between operator and teleoperator has to be reduced. In case of haptic telepresence, data reduction has an influence on the stability of the overall system. This paper provides a step towards a systematic framework for communication data bandwidth reduction in haptic telepresence systems discussing stability for a class of lossy data reduction (LDR) algorithms. Simulation and experimental results validate the efficacy
Keywords :
control engineering computing; data reduction; electronic data interchange; haptic interfaces; stability; telerobotics; data exchange; haptic telepresence system; lossy data reduction method; stability; Automatic control; Bandwidth; Communication networks; Communication system control; Delay effects; Haptic interfaces; Humans; Robot sensing systems; Stability; Teleoperators;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642147
