Robot MacGyver Project

CogRob, UCSD

Research project developing a generalized framework for robot tool improvisation using affordances. Complex reasoning allows robots to “think outside the box” using available items to improvise in unforeseen environments.

• Advised by Prof. Henrik Christensen.
• Developed recognition and use of object/tool affordances.
• Explored the use of behavior trees in dynamic task planning.
• Implemented an end-to-end pipeline on the V-REP CoppeliaSim simulation environment and on a real Fetch robot for table-top settings.
• Thesis available online.