Technical Reports (CIS)

Document Type

Technical Report

Date of this Version

June 1990


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


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.


computer vision, control theory, discrete event dynamic systems, finite state automata, image processing, manufacturing systems, robotics



Date Posted: 23 August 2007