A Framework for Observing a Manipulation Process

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Technical Reports (CIS)
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computer vision
control theory
discrete event dynamic systems
finite state automata
image processing
manufacturing systems
robotics
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Bajcsy, Ruzena
Sobh, Tarek
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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.

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1990-06-01
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University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-90-34.
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