Mobile Robotic Brickwork

Dörfler, Kathrin; Sandy, Timothy; Giftthaler, Markus; Gramazio, Fabio; Köhler, Matthias; Buchli, Jonas

doi:10.1007/978-3-319-26378-6_15

Cited by 78 publications

(56 citation statements)

References 8 publications

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“…Where the robotic process involves the robotic arm physically cutting rolled slabs of clay it still involves a great deal of workmanship of risk, as pieces are robotically cut before being formed by hand or thrown over CNC milled formers. Martin Bechthold's work on ceramic robotic fabrication and Gramazio & Kohler's research on the employment of industrial robots on the construction site exemplify this pioneering practice (23), (24). conjunction with the rotational movement of the hexagonal pieces allow for a plastic and fine modulation of the natural illumination.…”

Section: Robotic Tooled Componentsmentioning

confidence: 99%

Innovaciones en la producción de ambientes lumínicos cerámicos: entre técnicas artesanales y procesos digitales

Gutiérrez

Wanner

2016

Inf. constr.

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Ceramics offer exceptional properties as an energy-efficient building material, but have rarely been investigated alongside active environmental performance. Responding to light-control criteria, we work with advanced digital modelling, fabrication and performance simulation tools to craft experimental full-scale ceramic prototypes of architectural daylighting components. Our research has three main goals: to investigate alternative daylighting technology solutions made of a low-impact material such as clay; to explore design methodologies that look into how current architectural ceramics manufacturing can be enhanced by emergent design and fabrication technologies; and to engage with the materiality of the clay through collaborative working with recognised artists and ceramicists. A critical aspect of our research is to test the compatibility and interoperability of different software and design techniques, as phases of the production process (optimisation of form finding) in real time. This paper presents the development, construction and analytical data of three of the experimental production methods developed during the first three years of this project.Keywords: architectural components; ceramics; digital fabrication; daylighting; craftsmanship. RESUMEN El material cerámico ofrece excelentes oportunidades como material de construcción energéticamente eficiente, sin embargo sus propiedades se han investigado muy escasamente en combinación con un comportamiento medioambiental activo. Respondiendo a criterios de optimización de la iluminación natural, trabajamos con procesos paramétricos digitales de fabricación, así como con herramientas de simulación energética para confeccionar prototipos experimentales a escala real de componentes arquitectónicos cerámicos. Nuestra investigación tiene tres objetivos principales: explorar soluciones para la optimización en el uso de la luz natural fabricadas con un material de bajo impacto como la cerámica; investigar metodologías proyectuales que miren a cómo los procesos de producción arquitectónica cerámica actuales pueden mejorarse gracias a la incorporación de técnicas digitales de fabricación y diseño, y comprometernos con la materialidad de la cerá-mica a través de trabajo en colaboración con artistas y técnicas artesanales. Un aspecto crítico de nuestro trabajo es probar la compatibilidad e interoperabilidad de diferentes plataformas informáticas y técnicas de diseño como fases del proceso de producción (optimización de la búsqueda de forma) en tiempo real. Este artículo presenta el desarrollo, construcción y resultados analíticos de tres de los métodos de producción experimentados durante los tres primeros años de este proyecto.

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Section: Robotic Tooled Componentsmentioning

confidence: 99%

Innovaciones en la producción de ambientes lumínicos cerámicos: entre técnicas artesanales y procesos digitales

Gutiérrez

Wanner

2016

Inf. constr.

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“…The mobile robot, the In-Situ Fabricator (IF), was developed within the scope of an interdisciplinary research project by Gramazio Kohler Research (GKR) and Agile & Dexterous Robotics Lab (ADRL) at ETH Zurich, in pursuit of the goal of bringing robots to the construction site. Over the last few years, IF has been successfully deployed in different projects [2], [3], exploring multiple strategies for localization. Prior to these projects, an earlier version of IF, the Echord dimRob [1], was utilized to explore localization with onboard sensors relative to its environment.…”

Section: Background and Motivationmentioning

confidence: 99%

“…Prior to these projects, an earlier version of IF, the Echord dimRob [1], was utilized to explore localization with onboard sensors relative to its environment. The research 36 th International Symposium on Automation and Robotics in Construction (ISARC 2019) [2], [3] focused mainly on on-board sensing and SLAM for the pose estimation of the robot end-effector to ensure minimal dependency on external sensing systems. Even though these methods proved to be successful, they came with certain limitations, such as in the achievable accuracy of the manipulator and the reliance on a full or partial enclosure around the robot to ensure reliable pose estimations.…”

Section: Background and Motivationmentioning

confidence: 99%

Automated Localization of a Mobile Construction Robot with an External Measurement Device

Ercan¹,

Meier²,

Gramazio³

et al. 2019

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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The localization of a robot is a crucial part of any task that involves the mobile manipulation of objects. The precise repositioning of a mobile robot within the workspace is particularly important for on-site construction in situations where the operating area is much larger than the reach of the robot arm. This research presents a localization method utilizing a generic surveying and measurement devicea robotic total station. 1 The localization of the mobile robot in reference to the total station is investigated through the positioning of a reflector prism, mounted on the robot's end-effector, at different known locations in robot's coordinate frame. Through this localization method, the opportunity to remove the reliance on fixed reference points is tested in a largescale outdoor experiment, which would alleviate the need for a full enclosure around the mobile robot to help constrain its pose.

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“…Recent attempts at addressing this problem include partial solutions: (1) use an automated sequence planning scheme and then use either the manual planning process described above or some ad-hoc trajectory finding technique without trajectory feasibility guarantee [65][72] [31] (2) use a manually assigned assembly sequence and then use motion planning / online control algorithms to find feasible trajectories [15] [9]. While these approaches might be feasible for models with simple and sparse topologies, the construction sequence and robotic motion is much more nuanced for designs with denser material distribution and non-standard topologies.…”

Section: Path Planning For Architectural Robotic Assemblymentioning

confidence: 99%

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

2018

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While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with unconstrained topologies. This paper presents the first attempt in the field to rigorously formulate the extrusion sequence and motion planning (SAMP) problem, using a CSP encoding. Furthermore, this research proposes a new hierarchical planning framework to solve the extrusion SAMP problems that usually have a long planning horizon and 3D configuration complexity. By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial trusses with nonstandard topologies. This paper also presents the first detailed computation data to reveal the runtime bottleneck on solving SAMP problems, which provides insight and comparing baseline for future algorithmic development. Together with the algorithmic results, this paper also presents an open-source and modularized software implementation called Choreo that is machine-agnostic. To demonstrate the power of this algorithmic framework, three case studies, including real fabrication and simulation results, are presented.

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Mobile Robotic Brickwork

Cited by 78 publications

References 8 publications

Innovaciones en la producción de ambientes lumínicos cerámicos: entre técnicas artesanales y procesos digitales

Innovaciones en la producción de ambientes lumínicos cerámicos: entre técnicas artesanales y procesos digitales

Automated Localization of a Mobile Construction Robot with an External Measurement Device

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

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