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When a robot is operating in a dynamic environment, it cannot be assumed thata tool required to solve a given task will always be available. In case of amissing tool, an ideal response would be to find a substitute to complete thetask. In this paper, we present a proof of concept of a groundedknowledge-based approach to tool substitution. In order to validate thesuitability of a substitute, we conducted experiments involving 22 substitutionscenarios. The substitutes computed by the proposed approach were validated onthe basis of the experts' choices for each scenario. Our evaluation showed, in20 out of 22 scenarios (91%), the approach identified the same substitutes asexperts.

What Stands-in for a Missing Tool? A Prototypical Grounded Knowledge-based Approach to Tool Substitution