Adaptive robotic stone carving: Method, tools, and experiments

Shaked, Tom; Bar-Sinai, Karen Lee; Sprecher, Aaron

doi:10.1016/j.autcon.2021.103809

Cited by 19 publications

(8 citation statements)

References 7 publications

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“…The first approach involves deploying design rules based on real-time feedback of varying materials' properties, while the second approach involves recording and analyzing human actions to inform robot control schemes. Shaked et al (2021) suggest that the integration of these approaches will enable robotic arms to react to varying material scenarios in an adaptive fabrication process. Ercan explore a new spray-based 3D printing technique called Robotic Plaster Spraying (RPS) which utilizes cementitious plaster.…”

Section: Feedback Loops In Fabrication and Assemblymentioning

confidence: 99%

Layer-by-Layer Pick and Place Collaboration Between Human and Robot Using Optimization

Ghiyasi,

Zargar,

Baghi

2023

eCAADe Proceedings

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Robotic pick-and-place (P&P) has been widely utilized in manufacturing and architectural construction since the 1980s. However, the lack of inherent sensing capabilities in robots has limited their ability to adapt and respond to changes in design or environment. To address some of these shortcomings, this paper proposes an interactive robotic brick-laying workflow using a vision-based sensing framework to inform and optimize brick placements in consecutive layers. The proposed implementation is comprised of three major computational frameworks: (1) digitally reconstructing and analyzing the current state of the assembly, (2) optimizing placement targets based on the digital representation of the environment and desired multi-objective optimization goals, and (3) planning robot motion for the next layer of brick-laying. Within this workflow, the vision-based feedback pipeline simultaneously reconstructs and localizes the already-built assembly. This geometric information constitutes the basis for the multi-objective optimization stage. The placement targets are adaptively calculated to build the next layer upon the existing assembly while optimizing for structural stability, accounting for unforeseen deviations between layers, and allowing for human intervention and modification throughout the process. By proposing an interactive robotic brick-laying workflow, the paper explores the prospects for leveraging the capabilities of robotic pickand-place technology and integrating it with vision-based sensing frameworks to achieve optimal results in construction. Furthermore, by examining the effectiveness of a multiobjective optimization method as an adaptive design driver, this paper contributes to the development of novel computational strategies that can enhance the flexibility and adaptability of robotic construction systems.

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Section: Feedback Loops In Fabrication and Assemblymentioning

confidence: 99%

Layer-by-Layer Pick and Place Collaboration Between Human and Robot Using Optimization

Ghiyasi,

Zargar,

Baghi

2023

eCAADe Proceedings

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“…In the area of architecture, we identify research related to stonemasonry, on stone carving for architectural elements, in which it is necessary to have the ability to use the tools and make decisions regarding the way to carve the material since this it is not homogeneous (Shaked, Bar-Sinai, & Sprecher, 2021), (Shaked;Bar-Sinai;Sprecher, 2020). Similarly, the sand sculpture technique is in which special concrete blocks are prepared and carved with hand tools such as chisels and hammers (Kalo, Tracy, & Tam, 2020).…”

Section: Robots and Automationmentioning

confidence: 99%

– The European Conference on Arts, Design and Education 2022 Official Conference Proceedings

2022

ECADE Official Conference Proceedings

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Climate change is impacting on all aspects of contemporary life. Many artists provide a compelling vision for speculative futures, awakening a creative consciousness using imagined worldviews. This paper presents my practice-based research that aims to establish how visual art can engage with issues-based concepts and ideologies through the presentation, re-presentation, and interpretation as a framework for engaging with climate change issues and realigning society to sustainable futures. This paper takes theory, and artistic practice as methods means to respond to themes and issues of climate change. In the context of practical research, the arts-based approach and art theory research alternate between planning, theoretical research, practical action, reflection, and evaluation. Through digital art, this study creates a discursive space that relates to daily life, where people can deeply understand the interconnecting relationships between humans and the planet; simultaneously, it also shows people an achievable ecological future and encourages people to think and find an existence conducive to all. This existence is not the present, but a possibility for human beings to explore the future through the reshaping and reimagining of the present.

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“…In this regard, it should be noted that in the early 1990s, a robot approach was developed by the National Aeronautics and Space Administration to assemble truss structures in space where robot‐friendly structural systems were proposed to improve the efficiency and feasibility of the robotic applications (Doggett, 2002). Nevertheless, in prior work, only the end‐effector design was emphasized and improved (Li et al., 2022; Shaked et al., 2021) to facilitate structural assembly. In addition to the design of an end‐effector that is friendly to robotics in the construction, the structure and connections between individual components can also be designed for ease of assembly and to lessen the high workload and accuracy requirements of the end‐effectors.…”

Section: Introductionmentioning

confidence: 99%

Design and development of robotic collaborative system for automated construction of reciprocal frame structures

Chea,

Bai,

Zhou

2023

Computer aided Civil Eng

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Robotic technologies have shown their potential to improve efficiency, precision, and safety for construction tasks. In this paper, the concept of design for robotic construction (DfRC) is introduced, and robotic collaborative systems are developed for the construction of load‐carrying structures. An automated structural assembly was achieved and demonstrated through robotics with a preference for reciprocal frame (RF) structures. Key innovations include the use of magnetic temporary connections to minimize offsets of mobile robots and linear actuators as temporary supports during construction. Furthermore, specific procedures are formulated to navigate the robots and to target and install the components using a fiducial marker system and simultaneous localization and mapping packages, with consideration of structural deformation during construction due to self‐weight. The successful assembly of a 4.5‐m span RF structure demonstrates the potential of DfRC and the proposed robotic collaborative system in the automated construction of load‐carrying structures.

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Adaptive robotic stone carving: Method, tools, and experiments

Cited by 19 publications

References 7 publications

Layer-by-Layer Pick and Place Collaboration Between Human and Robot Using Optimization

Layer-by-Layer Pick and Place Collaboration Between Human and Robot Using Optimization

– The European Conference on Arts, Design and Education 2022 Official Conference Proceedings

Design and development of robotic collaborative system for automated construction of reciprocal frame structures

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