For robotic fabrication of wooden structures, the simple, quick and tight joining of elements can be solved using swelling hardwood dowels. This topic has been the focus of the present study, and the set-recovery capacity of densified wood (dW) as dowel material was investigated. European beech was compressed in the radial direction at 103°C and 10% moisture content (MC) to a compression ratio of 40%. Multiple swelling and shrinkage cycles were applied to measure swelling behavior, swelling pressure development and combined swelling and creep under compressive loading. It has been demonstrated that dW shows increased swelling and more persisting swelling pressures than native wood (nW). The set-recovery prevents significant contact-stress relaxation over multiple cycles of MC change. Application as a structural joining element for robotic fabrication was studied by shear lap joint tests on round double-dovetail swelling dowels.