Robotics: Science and Systems XV

Autonomous Tool Construction Using Part Shape and Attachment Prediction

Lakshmi Velayudhan Nair, Nithin Shrivatsav Srikanth, Zackory Erikson, Sonia Chernova

Abstract:

This work explores the problem of robot tool construction - creating tools from parts available in the environment. We advance the state-of-the-art in robotic tool construction by introducing an approach that enables the robot to construct a wider range of tools with greater computational efficiency. Specifically, given an action that the robot wishes to accomplish and a set of building parts available to the robot, our approach reasons about the shape of the parts and potential ways of attaching them, generating a ranking of part combinations that the robot then uses to construct and test the target tool. We validate our approach on the construction of five tools using a physical 7-DOF robot arm.

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Bibtex:

  
@INPROCEEDINGS{Chernova-RSS-19, 
    AUTHOR    = {Lakshmi Velayudhan Nair AND Nithin Shrivatsav Srikanth AND Zackory Erikson AND Sonia Chernova}, 
    TITLE     = {Autonomous Tool Construction Using Part Shape and Attachment Prediction}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2019}, 
    ADDRESS   = {FreiburgimBreisgau, Germany}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2019.XV.009} 
}