Robots using environment objects as tools the &amp;#x2018;MacGyver&amp;#x2019; paradigm for mobile manipulation

Stilman, Mike; Zafar, Munzir; Erdoğan, Can; Hou, Peng; Reynolds-Haertle, Saul; Tracy, Gregory

doi:10.1109/icra.2014.6907225

Cited by 14 publications

(12 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The approach successfully manages to reach the goal location without letting the cup fall. We also make a comparison with the case of a traditional control [37], i.e., without a unified control, to demonstrate its failure to prevent the cup from falling. The 3D simulation is uploaded as a video submission supplementing this paper.…”

Section: Resultsmentioning

confidence: 99%

“…This has inspired some to leverage this work for WIP humanoid control, by treating the control of wheeled inverted pendulum independently from the control of upper body-the former being a simplified model of the full robot with one link of an equivalent center of mass (CoM). This technique was also utilized to control the WIP humanoid system in [37].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids

Zafar

Hutchinson

Theodorou

2019

2019 International Conference on Robotics and Automation (ICRA)

Self Cite

View full text Add to dashboard Cite

In this paper, we present a whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids. WIP Humanoids are redundant manipulators dynamically balancing themselves on wheels. Characterized by several degrees of freedom, they have the ability to perform several tasks simultaneously, such as balancing, maintaining a body pose, controlling the gaze, lifting a load or maintaining end-effector configuration in operation space. The problem of whole-body control is to enable simultaneous performance of these tasks with optimal participation of all degrees of freedom at specified priorities for each objective. The control also has to obey constraint of angle and torque limits on each joint. The proposed approach is hierarchical with a low level controller for body joints manipulation and a high-level controller that defines center of mass (CoM) targets for the low-level controller to control zero dynamics of the system driving the wheels. The low-level controller plans for shorter horizons while considering more complete dynamics of the system, while the high-level controller plans for longer horizon based on an approximate model of the robot for computational efficiency.

show abstract

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids

Zafar

Hutchinson

Theodorou

2019

2019 International Conference on Robotics and Automation (ICRA)

Self Cite

View full text Add to dashboard Cite

show abstract

“…More broadly, these approaches are primarily focused on improving robot navigation through environment modification as opposed to construction of tools. Some existing research has also explored the construction of simple machines such as levers, using environmental objects (Levihn and Stilman, 2014 ; Stilman et al, 2014 ). Their work formulates the construction of simple machines as a constraint satisfaction problem where the constraints represent the relationships between the design components.…”

Section: Related Workmentioning

confidence: 99%

Feature Guided Search for Creative Problem Solving Through Tool Construction

Nair

Chernova

2020

Front. Robot. AI

View full text Add to dashboard Cite

Robots in the real world should be able to adapt to unforeseen circumstances. Particularly in the context of tool use, robots may not have access to the tools they need for completing a task. In this paper, we focus on the problem of tool construction in the context of task planning. We seek to enable robots to construct replacements for missing tools using available objects, in order to complete the given task. We introduce the Feature Guided Search (FGS) algorithm that enables the application of existing heuristic search approaches in the context of task planning, to perform tool construction efficiently. FGS accounts for physical attributes of objects (e.g., shape, material) during the search for a valid task plan. Our results demonstrate that FGS significantly reduces the search effort over standard heuristic search approaches by ≈93% for tool construction.

show abstract

“…Improvisation is a powerful human ability that has not yet been deeply explored in robotic manipulation research. An interesting research approach by Stilman et al presented the "MacGyver" paradigm as a research problem [3]. They propose that robots should be able to use arbitrary objects in the environment to solve unforeseen manipulation tasks.…”

Section: A Related Workmentioning

confidence: 99%

“…This section describes the concept of versatility in the context of robotic manipulation using object affordances. Inspired by the work of [3] we propose a "MacGyver" paradigm for operator assisted humanoid robots. In this paradigm, versatile manipulation is the key ability to succeed in a particular task where expected known objects are not present.…”

Section: Versatile Object Manipulationmentioning

confidence: 99%

Achieving versatile manipulation tasks with unknown objects by supervised humanoid robots based on object templates

Romay

Kohlbrecher

Conner

et al. 2015

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)

View full text Add to dashboard Cite

The investigations of this paper are motivated by the scenario of a supervised semi-autonomous humanoid robot entering a mainly unknown, potentially degraded human environment to perform highly diverse disaster recovery tasks. For this purpose, the robot must be enabled to use any object it can find in the environment as tool for achieving its current manipulation task. This requires the use of potential unknown objects as well as known objects for new purposes (e.g. using a drill as a hammer). A recently proposed object template manipulation approach is extended to provide a semi-autonomous humanoid robot assisted by a remote human supervisor with the versatility needed to utilize objects in the described manner applying affordances [1] from other previously known objects. For an Atlas humanoid robot it is demonstrated how using a small set of such object templates with well defined affordances can be used to solve manipulation tasks using new unknown objects.

show abstract

Robots using environment objects as tools the ‘MacGyver’ paradigm for mobile manipulation

Cited by 14 publications

References 3 publications

Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids

Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids

Feature Guided Search for Creative Problem Solving Through Tool Construction

Achieving versatile manipulation tasks with unknown objects by supervised humanoid robots based on object templates

Contact Info

Product

Resources

About