Using environment objects as tools: Unconventional door opening

Robots should be able to utilize environment objects as tools. A critical challenge to accomplishing this task is the vast search space that arises when considering multiple interacting bodies. To manage this complexity, we introduce an approach which efficiently reasons by back-propagating physical constraints between useful combinations of objects. This approach allows us to exploit restrictions on relative object configurations to reduce the search space prior to committing to specific object choices. We present a simulated implementation of our approach applied to the problem of opening a jammed door. Our method allows a robot to efficiently choose between two strategies, leverage and impact, to achieve the desired result using various available objects.

Authors

• Martin Levihn
• Mike Stilman

Keywords

• Force
• Random access memory
• Jamming
• Robot kinematics
• Collision avoidance
• Acceleration
• Open Door
• Relative Configuration
• Combined Objective
• Configuration Of Objects
• Use Of Tools
• Maximum Distance
• Contact Point
• Maximum Force
• Direction Of Force
• Target Object
• Object Properties
• Object Motion
• First Move
• Linear Trajectory
• Mechanical Advantage
• Output Of Step
• Edges Of Objects
• Reduced Search Space
• Length Of The Object
• Collision Point
• Force Requirements