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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).doi:10.1109/humanoids.2015.7363543 dblp:conf/humanoids/RomayKCS15 fatcat:fubnnrpav5dr7hqsfee3wvjo4i