Adaptive Robotic Carving

Brugnaro, Giulio; Hanna, Sean

doi:10.1007/978-3-319-92294-2_26

Cited by 10 publications

(5 citation statements)

References 6 publications

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“…However, when combined with robotic assembly, the use of the robot overcomes the need to reposition and reprocess the working piece, which may also decrease tolerances and allow for more design possibilities (20). Applications of subtractive robotic processes range from cutting and sawing (21)(22)(23)(24), milling (25)(26)(27), and drilling (20) to carving (28). Besides additive and subtractive processes, we can also delimit deformative processes, such as wire bending (29,30), metal sheet bending or folding (31,32), and incremental sheet forming (33).…”

Section: Construction Automationmentioning

confidence: 99%

Construction Robotics: From Automation to Collaboration

Parascho

2023

Annu. Rev. Control Robot. Auton. Syst.

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Over the past decades, robotics has shown great potential to impact the built environment, from automation to differentiation and efficient construction. However, construction processes are highly complex and require tackling a multitude of problems, from safety and robustness to ease of control and interactivity. For this reason, the field of construction robotics is still evolving, requiring finding solutions for new challenges every day. The present review analyzes the role of robotics in construction and architecture over time and highlights current trends in shifting from pure automation toward collaborative and adaptive processes that have the potential to fully integrate robotics into a rigid and challenging industry, such as construction. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 14 is May 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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Section: Construction Automationmentioning

confidence: 99%

Construction Robotics: From Automation to Collaboration

Parascho

2023

Annu. Rev. Control Robot. Auton. Syst.

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“…In addition, researchers have successfully showcased the viability of augmented robotic manufacturing systems by employing diverse methods and materials. These include additive production processes with cementitious (Çapunaman et al, 2022;Ercan Jenny et al, 2020;Im et al, 2018;Naboni, 2022) and thermoplastic materials (Felbrich et al, 2022;Kwon et al, 2019;Nicholas et al, 2020), subtractive production processes involving carving and milling techniques (Brugnaro & Hanna, 2019;Çapunaman et al, 2022;Garcia del Castillo y Lopez, 2022;Shaked et al, 2021), and formative production processes utilizing various material systems (Mueller et al, 2019;Rossi & Nicholas, 2018).…”

Section: Augmented Fabricationmentioning

confidence: 99%

Reconfigurable Formwork System for Vision-Informed Conformal Robotic 3D Printing

Zamani,

Mohseni,

Bertuğ Çapunaman

2023

eCAADe Proceedings

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Robotic additive manufacturing has garnered significant research and development interest due to its transformative potential in architecture, engineering, and construction as a cost-effective, material-efficient, and energy-saving fabrication method. However, despite its potential, conventional approaches heavily depend on meticulously optimized work environments, as robotic arms possess limited information regarding their immediate surroundings (Bechthold, 2010; Bechthold & King, 2013). Furthermore, such approaches are often restricted to planar build surfaces and slicing algorithms due to computational and physical practicality, which consequently limits the feasibility of robotic solutions in scenarios involving complex geometries and materials. Building on previous work (Çapunaman et al., 2022), this research investigates conformal 3D printing of clay using a 6 degrees-of-freedom robot arm and a vision-based sensing framework on parametrically reconfigurable tensile hyperbolic paraboloid (hypar) formwork. In this paper, we present the implementation details of the formwork system, share findings from preliminary testing of the proposed workflow, and demonstrate application feasibility through a design exercise that aims to fabricate unique components for a poly-hypar surface structure. The formwork system also offers parametric control over generating complex, non-planar tensile surfaces to be printed on. Within the scope of this workflow, the vision-based sensing framework is employed to generate a digital twin informing iterative tuning of the formwork geometry and conformal toolpath planning on scanned geometries. Additionally, we utilized the augmented fabrication framework to observe and analyze deformations in the printed clay body that occurs during air drying. The proposed workflow, in conjunction with the vision-based sensing framework and the reconfigurable formwork, aims to minimize time and material waste in custom formwork fabrication and printing support materials for complex geometric panels and shell structures.

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“…Recent research has demonstrated the application of adaptive robotic subtractive manufacturing processes for stone carving [19] and wood [20], where the visualization and predictive techniques afforded by adaptive processes enable human-like responsiveness towards working with the material. Adaptive processes have also been utilized for the localization and calibration of a mobile robotic fabrication system for building-scale mesh welding [21], increasing accuracy through continuous mapping of the environment and surveying of the fabrication process.…”

Section: Related Workmentioning

confidence: 99%

Reducing Uncertainty in Multi-Robot Construction through Perception Modelling and Adaptive Fabrication

Ruan¹,

McGee²,

Adel³

2023

Proceedings of the 40th International Symposium on Automation and Robotics in Construction

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One of the significant challenges for robotic construction with dimensional lumber and other construction materials is the accumulation of material imperfections and manufacturing inaccuracies, resulting in significant deviations between the as-built structure and its digital twin. This paper presents and evaluates methods for addressing these challenges to enable a multi-robot construction process that adaptively updates future fabrication steps to accommodate for perceived inaccuracies, improving build quality. We demonstrate through a physical stacking case study experiment that our methods can decrease fabrication deviations due to setup and calibration errors by utilizing robot perception and adaptive processes. Overall, this research advances current toolpath and task optimization strategies to help shape a comprehensive system for working with tolerance-aware robotic construction.

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Adaptive Robotic Carving

Cited by 10 publications

References 6 publications

Construction Robotics: From Automation to Collaboration

Construction Robotics: From Automation to Collaboration

Reconfigurable Formwork System for Vision-Informed Conformal Robotic 3D Printing

Reducing Uncertainty in Multi-Robot Construction through Perception Modelling and Adaptive Fabrication

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