Achieving Versatile Manipulation Tasks with Unknown Objects by Supervised Humanoid Robots based on Object Templates

Abstract—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 ma-nipulation 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. I