A Framework for Observing a Manipulation Process

Abstract

We propose a system for observing a robot hand manipulating an object. A discrete event dynamic system is used as a model for the manipulation process. A framework for the hand/object relationship is developed and a stabilizing observer is constructed for the system. We describe low-level modules for recognizing the "events" that causes state transitions within the dynamic manipulation system. Our system uses different tracking mechanisms in order to control the observation process in an efficient and stable manner.