Cooperative Fabrication of Spatial Metal Structures

Parascho, Stefana; Gandia, Augusto; MIRJAN, AMMAR; Gramazio, Fabio; Köhler, Matthias

doi:10.2307/j.ctt1n7qkg7.7

Cited by 20 publications

(15 citation statements)

References 2 publications

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“…Si bien hasta el momento se han descrito en su gran mayoría brazos robóticos industriales orientados al sector de la construcción -adaptándoles boquillas de extrusión, sensores, algoritmos de planificación de rutas, entre otros elementos-, también se presentan otras configuraciones robóticas que ayudan en tareas más robustas. En la actualidad, diversos sistemas robóticos son operados fuera del área de construcción, debido a lo explicado previamente con respecto a la complejidad que traen estos entornos de trabajo; además el ensamblaje en este sector aún se realiza en el área de trabajo; sin dera (Thoma et al, 2018) o estructuras de metal (Parascho et al, 2017); haciendo uso de diversas herramientas (fresado, taladrado, cortado, soldadura, etc. ); y soportados en algoritmos de planificación de rutas al ser un trabajo cooperativo.…”

Section: Trabajo Pesadounclassified

Una revisión de plataformas robóticas para el sector de la construcción

Becerra

2020

Tecnura

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Este artículo presenta una revisión de plataformas robóticas para el sector de la construcción; enfocándose en aquellas que fabrican piezas o módulos con geometrías complejas en entornos fuera del área de construcción; sistemas retroalimentados para entornos cambiantes y algoritmos de planificación de rutas utilizados para el posicionamiento del efector final; y por último, robots que realizan tareas pesadas o repetitivas para el beneficio del ser humano. Además, el artículo también presenta una serie de ventajas y desafíos que tienen los robots en el sector de la construcción para los años venideros.

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Section: Trabajo Pesadounclassified

Una revisión de plataformas robóticas para el sector de la construcción

Becerra

2020

Tecnura

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“…Existing exploration of robotic assembly in different architecture-scale application contexts has focused on the design of application-specific processes and associated hardware systems [22]. In all these applications, researchers have encountered similar problems: (1) the assignment of an order to assemble objects and (2) the generation of feasible robotic trajectories that do not collide with objects in the workspace [49][12] [65]. Current solutions to this problem typically involve an intuition-based trial-and-error method.…”

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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“…In addition to these goals, several projects investigate how multiple machines may support each other or take on individual tasks that lead to new construction processes and outcomes. [3][4][5][6] As a result, machine interaction and control in multi-robotic processes have developed into a central area of contemporary research in robotic fabrication.…”

Section: Introductionmentioning

confidence: 99%

Bridging the collectives: A review of collective human–robot construction

Han

Meggers

Parascho

2021

International Journal of Architectural Computing

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Advancements in multi-agent, autonomous, and intelligent robotic systems over the past decades point toward new design and fabrication possibilities. Exploring how humans and robots can create and construct collectively is essential in leveraging robotic technology in the building sector. However, only by making existing knowledge from relevant technological disciplines accessible to designers can we fully exploit current construction methods and further develop them to address the challenges in architecture. To do this, we present a review paper that bridges the gap between Collective Robotic Construction (CRC) and Human–Robot Interaction (HRI) and defines a new research domain in Collective Human–Robot Construction (CHRC) in the architectural design and fabrication context.

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Cooperative Fabrication of Spatial Metal Structures

Cited by 20 publications

References 2 publications

Una revisión de plataformas robóticas para el sector de la construcción

Una revisión de plataformas robóticas para el sector de la construcción

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

Bridging the collectives: A review of collective human–robot construction

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