Tool Macgyvering: Tool Construction Using Geometric Reasoning
arXiv:1902.03666 · doi:10.1109/ICRA.2019.8793257
Abstract
MacGyvering is defined as creating or repairing something in an inventive or improvised way by utilizing objects that are available at hand. In this paper, we explore a subset of Macgyvering problems involving tool construction, i.e., creating tools from parts available in the environment. We formalize the overall problem domain of tool Macgyvering, introducing three levels of complexity for tool construction and substitution problems, and presenting a novel computational framework aimed at solving one level of the tool Macgyvering problem, specifically contributing a novel algorithm for tool construction based on geometric reasoning. We validate our approach by constructing three tools using a 7-DOF robot arm.
arXiv commentVideo demonstration available at: https://www.youtube.com/channel/UCxnm8iu1TS75YNXcAiI-nEw Conference: Accepted to International Conference on Robotics and Automation 2019
References in corpus (1)
Cited by in corpus (4)
- Creative Problem Solving in Artificially Intelligent Agents: A Survey and Framework
- Feature Guided Search for Creative Problem Solving Through Tool Construction
- Tool Shape Optimization through Backpropagation of Neural Network
- Tool Macgyvering: A Novel Framework for Combining Tool Substitution and Construction