Robotics: Science and Systems XV

Autonomous Tool Construction Using Part Shape and Attachment Prediction

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


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.



    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}