Authors:
Doik Kim
;
Jung-Min Park
and
Seokmin Hong
Affiliation:
KIST, Korea, Republic of
Keyword(s):
Data Reduction, Restoration, Hardware Limit, Convolution Interpolation.
Related
Ontology
Subjects/Areas/Topics:
Humanoid Robots
;
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
;
Telerobotics and Teleoperation
;
Vision, Recognition and Reconstruction
Abstract:
In order to control a robot, motion data obtained from various interface devices such as haptic and tele-operating
interfaces, and a motion capture system, or from predefined parametric equations are needed. It is
hard to store and transmit the data because of their high control frequency and synchronization problem. In
addition, usually, all these data are only for one target robot system, i.e., it is hard to use them to other robot
system with different hardware limits. In order to solve the problems, the reduction of the original data is
conducted with two stage magnitude quantization and the restoration without violating the hardware limits,
such as maximum velocity, acceleration, etc., is conducted with the convolution interpolation, in this paper.
The proposed method can be used in on-line data transmission and for off-line data storage.