ISBN:  Unavailable

Category: Unavailable

Page count: 69

Abstract: "We address the problem of observing a moving agent. In particular, we propose a system for observing a manipulation process, where a robot hand manipulates an object. A discrete event dynamic system (DEDS) frame work [sic] is developed for the hand/object interaction over time and a stabilizing observer is constructed. Low-level modules are developed for recognizing the 'events' that causes [sic] state transitions within the dynamic manipulation system. The work examines closely the possibilities for errors, mistakes and uncertainties in the manipulation system, observer construction process and event identification mechanisms