  MacGyvering is defined as creating or repairing something in an inventive or
improvised way by utilizing objects that are available at hand. In this paper,
we explore a subset of Macgyvering problems involving tool construction, i.e.,
creating tools from parts available in the environment. We formalize the
overall problem domain of tool Macgyvering, introducing three levels of
complexity for tool construction and substitution problems, and presenting a
novel computational framework aimed at solving one level of the tool
Macgyvering problem, specifically contributing a novel algorithm for tool
construction based on geometric reasoning. We validate our approach by
constructing three tools using a 7-DOF robot arm.
