Publication:
Leveraging building material as part of the in-plane robotic kinematic system for collective construction

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SCHOOL OF MEDICINE
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Co-Authors

Leder, S.
Kim, H.
Oğuz, O.S.
Kubail Kalousdian, N.
Hartmann, V.N.
Menges, A.
Toussaint, M.

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NO

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Abstract

Although collective robotic construction systems are beginning to showcase how multi-robot systems can contribute to building construction by efficiently building low-cost, sustainable structures, the majority of research utilizes non-structural or highly customized materials. A modular collective robotic construction system based on a robotic actuator, which leverages timber struts for the assembly of architectural artifacts as well as part of the robot body for locomotion is presented. The system is co-designed for in-plane assembly from an architectural, robotic, and computer science perspective in order to integrate the various hardware and software constraints into a single workflow. The system is tested using five representative physical scenarios. These proof-of-concept demonstrations showcase three tasks required for construction assembly: the ability of the system to locomote, dynamically change the topology of connecting robotic actuators and timber struts, and collaborate to transport timber struts. As such, the groundwork for a future autonomous collective robotic construction system that could address collective construction assembly and even further increase the flexibility of on-site construction robots through its modularity is laid.

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Publisher

Wiley

Subject

Chemistry, Science and technology, Other topics, Materials science

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Has Part

Source

Advanced Science

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DOI

10.1002/advs.202201524

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