Human-in-the-loop fabrication of 3D surfaces with natural tree branches

Larsson, Maria; Yoshida, Hironori; Igarashi, Takeo

doi:10.1145/3328939.3329000

Cited by 18 publications

(7 citation statements)

References 12 publications

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“…To be more specific, moiré fringe uses the interference of wave to deduce the shape; ToF measures the time taken by an object to travel a distance through a medium; SFT, SFS, and structured lighting mainly use perspective principles; and triangulation, MVS, and silhouette use the methods of deformations with triangular positioning. e attributes of each method are presented in Table 1 [14][15][16][17][18]. e "+" and "− " signs indicate strong and weak performances.…”

Section: Measuring Methods Decisionmentioning

confidence: 99%

“…Almeida and Sousa operated a robotic arm to cut timber components and then assembled the pavilion with human effort [15]. Larsson et al proposed a human-in-the-loop fabrication system for small-scale construction by using irregular wooden branches, a leverage digital scanning technology, and a 2.5 D CNC machine [16,17]. It can be concluded that the division of labor between robot and human is relatively clear in the above cases; yet human involvement increases alongside the geometrical complexity, thereby resulting in a reduction in the effectiveness.…”

Section: From Human-robot Collaboration To Perception-modelingmentioning

confidence: 99%

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Digital Twin in Computational Design and Robotic Construction of Wooden Architecture

Zhang

Meina

Lin

et al. 2021

Advances in Civil Engineering

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This study proposes a cyber-physical interconnection method for computational design and robotic construction in a wooden architectural realm. It aims to provide a highly efficient, flexible, and adaptive design-construction approach by continuously updating digital models and physical operations according to the locally sourced materials. A perception-modeling system to scan the source materials on-site and send their data simultaneously to design software was developed by using physical sensors and computational technologies in an innovative manner. The data was used for architectural programs to generate design outcomes and guide the robotic construction. The novelty of this study is to establish a real-time, bidirectional interaction mechanism between digital design and physical construction. The design outcome is no longer a fixed, predefined geometric model but a dynamic, data-driven model which would be updated by material conditions on-site. The construction robot is able to make synchronous adjustment automatically in coordination with the dynamic design. The success of the iterative perceiving-simulating-updating loop was demonstrated by building two pavilions.

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Section: Measuring Methods Decisionmentioning

confidence: 99%

Section: From Human-robot Collaboration To Perception-modelingmentioning

confidence: 99%

Digital Twin in Computational Design and Robotic Construction of Wooden Architecture

Zhang

Meina

Lin

et al. 2021

Advances in Civil Engineering

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“…Beyond manufacturing artificial variation from digital models, these processes adapt to existing variations in the environment to facilitate fabrication from readily available and sustainable materials. This approach has been applied to timber structures, where subassembly details or the overall design adapt to the "material morphospace" (23) of available, naturally nonstandard trunks, branches, and tree forks (24)(25)(26)(27). Others have leveraged three-dimensional (3D) scanning to reduce waste in manually constructed walls built from digitally machined stones (28,29).…”

Section: Robotic Construction With Raw and Reclaimed Materialsmentioning

confidence: 99%

A framework for robotic excavation and dry stone construction using on-site materials

Johns,

Wermelinger,

Mascaro

et al. 2023

Sci. Robot.

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Automated building processes that enable efficient in situ resource utilization can facilitate construction in remote locations while simultaneously offering a carbon-reducing alternative to commonplace building practices. Toward these ends, we present a robotic construction pipeline that is capable of planning and building freeform stone walls and landscapes from highly heterogeneous local materials using a robotic excavator equipped with a shovel and gripper. Our system learns from real and simulated data to facilitate the online detection and segmentation of stone instances in spatial maps, enabling robotic grasping and textured 3D scanning of individual stones and rubble elements. Given a limited inventory of these digitized stones, our geometric planning algorithm uses a combination of constrained registration and signed-distance-field classification to determine how these should be positioned toward the formation of stable and explicitly shaped structures. We present a holistic approach for the robotic manipulation of complex objects toward dry stone construction and use the same hardware and mapping to facilitate autonomous terrain-shaping on a single construction site. Our process is demonstrated with the construction of a freestanding stone wall (10 meters by 1.7 meters by 4 meters) and a permanent retaining wall (65.5 meters by 1.8 meters by 6 meters) that is integrated with robotically contoured terraces (665 square meters). The work illustrates the potential of autonomous heavy construction vehicles to build adaptively with highly irregular, abundant, and sustainable materials that require little to no transportation and preprocessing.

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“…This paper extends previous work by introducing a new computational approach to design for material reuse in a flexible, interactive, designer-driven workflow. Central to this approach is the use of the classical Hungarian Algorithm, first introduced in 1955 [25], which has only been applied to the material reuse problem twice before in previous literature [21], [9]. This paper is the first to demonstrate the Hungarian Algorithm as implemented in a free, open-source tool for Grasshopper, which is used together with recently introduced tools for design space exploration, including sampling and single-and multi-objective optimization.…”

Section: Research Gapmentioning

confidence: 99%

Algorithmic circular design with reused structural elements: method and tool

Huang¹,

Alkhayat²,

Wolf³

et al. 2021

Fib Proceedings

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Structural systems are responsible for a significant portion of embodied carbon emissions in buildings. A potential path to increase sustainability is to integrate circular economy principles in structural design, which advocate for prioritizing the reuse of structural materials to extend their service life, limiting their physical transformation to locational and functional changes. In this way, structural projects of the past can not only serve as an inspiration for the future, but the material itself can also be reappropriated. Recently, computational approaches for material reuse have gained traction. This paper extends previous work by comparing several algorithmic formulations for reuse-driven design, introducing a new Grasshopper-based tool that implements them, and demonstrating their application on a case study.

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Human-in-the-loop fabrication of 3D surfaces with natural tree branches

Cited by 18 publications

References 12 publications

Digital Twin in Computational Design and Robotic Construction of Wooden Architecture

Digital Twin in Computational Design and Robotic Construction of Wooden Architecture

A framework for robotic excavation and dry stone construction using on-site materials

Algorithmic circular design with reused structural elements: method and tool

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