A Robotic Haptic System Architecture

In order to carry out a given task in a unstructured environment, a robotic system must extract physical and geometric properties about the environment and the objects therein. We are interested in the question of what are the necessary elements to integrate a robotics system that would be able to carry out a task, i.e pick-up and transport objects in an unknown environment. One of the major concerns is to insure adequate data throughput and fast communication between modules within the system, so that haptic tasks can be adequately carried out. We also discuss the communication issues involved in the development of such a system.