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A Framework for Fast, Autonomous, and Reliable Tool Incorporation on iCub
Tanis Mar1, Vadim Tikhanoff1, Lorenzo Natale1
1iCub Facility, Istituto Italiano di Tecnologia, Genoa, Italy.
Frontiers in Robotics and AI
|January 27, 2021
Summary
Robots like iCub can use human tools by creating internal models of their geometry and pose. This research presents a system for autonomous, fast, and reliable tool incorporation in robots.
Area of Science:
- Robotics
- Artificial Intelligence
- Human-Robot Interaction
Background:
- Robots with human-like size and capabilities, such as iCub, can leverage human-designed environments and tools.
- Effective utilization of these tools requires robots to build internal representations of tool geometry, reach, and pose.
Purpose of the Study:
- To present a novel repository for autonomous tool incorporation on the iCub robot platform.
- To enable robots to rapidly and reliably integrate external tools into their operational space.
Main Methods:
- Development of a repository with interconnected methods for tool incorporation.
- Implementation of algorithms for representing tool geometry, reach, and pose relative to the robot.
Main Results:
- Demonstration of autonomous, fast, and reliable tool incorporation capabilities.
- Successful integration of tools into the iCub's representational framework.
Conclusions:
- The presented system significantly enhances the iCub's ability to interact with and utilize human-designed tools.
- This work is a crucial step towards enabling robots to operate more effectively in human-centric environments.
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