  Macgyvering refers to solving problems inventively by using whatever objects
are available at hand. Tool Macgyvering is a subset of macgyvering tasks
involving a missing tool that is either substituted (tool substitution) or
constructed (tool construction), from available objects. In this paper, we
introduce a novel Tool Macgyvering framework that combines tool substitution
and construction using arbitration that decides between the two options to
output a final macgyvering solution. Our tool construction approach reasons
about the shape, material, and different ways of attaching objects to construct
a desired tool. We further develop value functions that enable the robot to
effectively arbitrate between substitution and construction. Our results show
that our tool construction approach is able to successfully construct working
tools with an accuracy of 96.67%, and our arbitration strategy successfully
chooses between substitution and construction with an accuracy of 83.33%.
