Chris Gollogly

Abstract
Takahashi, K., Kim, K., Ogata, T., & Sungano, S., (2017, May). Tool-body

assimilation model

considering grasping motion through deep learning. Robotics and

Autonomous Systems.

Volume 91, 115-127. http://dx.doi.org/10.1016/j.robot.2017.01.002

In the past, the function of a robot has been limited to its capability of only
being constructed for one tool use. In recent development of robotic
technology, robots have become more advanced with multifunction sensors,
allowing robots to perform more activities and movements. These sensors
still do not allow tool-body movement to take place. Tool-body is the
assimilation that occurs when a human uses a tool in a way that it becomes
an extension of their body. A robot can only use a tool attachment it has
been programmed to use. Usually a tool is designed a certain way to be
attached onto the robot specifically for one function. For example, a robot
whose sole function is to cut steel or screw tiny screws into small electronics.
These robots are limited by the tool it is programmed to use. We have set out
to construct a robot that can pick up a tool and use that tool just as a human
would in real life situations. Many approaches have been examined to create
a robot that can grasp any tool and manipulate it in the correct fashion.
Among the approaches experimented with are: body babbling, Deep Neural
Networks, dynamic touch, affordance, motion models, and object
manipulation. Modern day humanoid robots can use a tool because of model-
based control. In other words, the robot has already been programmed in
such a way, that it already knows what kind of tool it is going to use. The
robot is also preprogramed to know how to use the tool through coding.
When adopting the tool-body assimilation that is learning based, the robot
would be physically able to identify any tool laying on the table. After the
robot has identified the tool, it can move the tool by grasping the tool in any
position. Now that the tool is being handled, the robot can set the tool down
by ungrasping the tool and moving away from it. Once the robot has learned
he can handle these simple operations, it can now pick up a specific tool
whenever it pleases. The robot now understands how to grasp the tool at any
time in the future. When it is time to use that tool or any tool it has
previously learned how to grasp, it is ready to do so. Through deep learning
and tool-body movements, the robot can use the tool as it sees fit. This
means the robot has learned how to setup to use a tool and manipulate the
tool on its own. Before it was only able to control one tool it was specifically
designed to operate and all robotics had to be preset before operation. This
new robotic technology is leaps and bounds ahead of its predecessors.

Keywords:
Tool-body, robotics, dynamic touch, body babbling, and deep learning