Additive manufacturing methods 1-4 using static and mobile robots are being developed for both on-site construction 5-8 and off-site prefabrication 9, 10 . Here we introduce a new method of additive manufacturing, referred to as Aerial Additive Manufacturing (Aerial-AM), that utilizes a team of aerial robots inspired by natural builders 11 such as wasps who use collective building methods 12, 13 . We present a scalable multi-robot 3D printing and path planning framework that enables robot tasks and population size to be adapted to variations in print geometry throughout a building mission. The multi-robot manufacturing framework allows for autonomous 3D printing under human supervision, real-time assessment of printed geometry and robot behavioural adaptation. To validate autonomous Aerial-AM based on the framework, we develop BuilDrones for depositing materials during flight and ScanDrones for measuring print quality, and integrate a generic real-time model-predictive-control scheme with the Aerial-AM robots. In addition, we integrate a dynamically self-aligning delta manipulator with the BuilDrone to further improve manufacturing accuracy to 5mm for printing geometry with precise trajectory requirements, and develop four cementitious-polymeric composite mixtures suitable for continuous material deposition. We demonstrate proof-of-concept prints including a cylinder of 2.05m with a rapid curing insulation foam material and a cylinder of 0.18m with structural pseudoplastic cementitious material, a light-trail virtual print of a dome-like geometry, and multi-robot simulations.
In this paper, a humanoid robot is presented for ultimate use in the rehabilitation of children with mental disorders, such as autism. Creating affordable and efficient humanoids could assist the therapy in psychiatric disability by offering multimodal communication between the humanoid and humans. Yet, the humanoid development needs a seamless integration of artificial muscles, sensors, controllers and structures. We have designed a human-like robot that has 15 DOF, 580 mm tall and 925 mm arm span using a rapid prototyping system. The robot has a human-like appearance and movement. Flexible sensors around the arm and hands for safe human-robot interactions, and a two-wheel mobile platform for maneuverability are incorporated in the design. The robot has facial features for illustrating human-friendly behavior. The mechanical design of the robot and the characterization of the flexible sensors are presented. Comprehensive study on the upper body design, mobile base, actuators selection, electronics, and performance evaluation are included in this paper.
One of the most difficult challenges for terrestrial robotic platforms in disaster scenarios is their inability to traverse highly irregular terrain. Many different robotic architectures have been proposed over recent years, each with benefits and shortfalls. In this work, we propose a Polyurethane Foam depositing system, which can be applied to any such platform and increase its ability to overcome obstacles significantly. The system proposed is inexpensive, and the way in which it overcomes obstacles allows very simple control systems for autonomy. The deposited foam has a potential expansion ratio of over 33× its constituent parts and a final compressive strength exceeding 2M P a, final mechanical properties can be tuned on board. The system has been implemented on a two-tracked rover and its autonomous responses tested against significant objects and chasms. The results show that the amount of foam deposited can be well controlled and multiple layers can be stacked on top of each other to significantly increase altitude.
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