A model for observing a moving agent

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 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 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. The system utilizes different tracking techniques in order to observe and recognize the task in an active, adaptive and goal-directed manner.