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In this work, we propose a probabilistic-based approach for detecting transitions in hybrid control systems with limited sensing. Detecting the transition moment is a particularly challenging problem as (i) multiple sources of sensory information are usually not available in robotic systems and (ii) the sensory information is noisy and requires calibrations. The challenge significantly increases if the robot makes physical contact as it causes discontinuities in the dynamics. The proposed transition criterion addresses these shortcomings by studying the behavior of the robot and the environment during a short horizon of time. We empirically validate our approach while detecting contact transitions in a hand-over scenario where a human operator brings a large object and hands it over to a pair of robotic arms which are not equipped with a force or tactile sensors.

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Last update: 25/08/06