RobotSculptor: Artist-Directed Robotic Sculpting of Clay

Ma, Zhao; Duenser, Simon; Schumacher, Christian; Rust, Romana; Bächer, Moritz; Gramazio, Fabio; Köhler, Matthias; Coros, Stelian

doi:10.1145/3424630.3425415

Cited by 6 publications

(4 citation statements)

References 30 publications

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“…Thus, shape grammar-based design and making can inspire human-machine collaborations as it ensures both rationality and openness at the same time. Such an idea can be found in architectural experiments such as 'Interactive robotic plastering' [8], 'RobotSculptor' [12], and 'RoMA' [13]. From different scales, these projects have demonstrated the technical feasibility of interactive human-robot collaborations and the possibility of real-time bi-directional communication between humans, cyber, and physical systems.…”

Section: Shape Grammar-based Design and Makingmentioning

confidence: 99%

“…Human-guided robotic fabrication allows humans to interact with robots in real-time and to manipulate physical form during the fabrication process. Mitterberger et al suggested such a semi-autonomous system setup features either manual handcraft with robotic precision or dynamic fabrication based on human-robot collaboration [12]. On one hand, handcrafting with robotic precision can establish a safer collaboration environment in which it requires devices to provide live feedback on design information and to help correct fabricators' operations.…”

Section: Human-guided Robotic Fabricationmentioning

confidence: 99%

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A ‘Human-In-The-Loop’ Workflow for Realizing Taihu Rocks

Chen,

Lin,

Sun

et al. 2024

Computational Design and Robotic Fabrication

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This research uses an expanded polystyrene (EPS) Taihu rock as a demonstrator to illustrate a workflow encompassing shape grammar-based design and Mixed Reality (MR)-aided robotic fabrication. It aims to address a post-digital mindset that values human’s tacit knowledge and craftsmanship within CAD-CAM processes, therefore, this research combines three components: an idea of the human-cyber-physical system (HCPS), a from-finding approach, and an augmented materialization method. The investigators first 3D-scanned a natural Taihu rock and interpreted its geometric peculiarities into design generation rules. These rules were then translated into robotic foam-cutting paths. With Head-mounted Display (HMD) and MR technology, human fabricators were able to alter robotic motions on-site per their aesthetical demands.

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Section: Shape Grammar-based Design and Makingmentioning

confidence: 99%

Section: Human-guided Robotic Fabricationmentioning

confidence: 99%

A ‘Human-In-The-Loop’ Workflow for Realizing Taihu Rocks

Chen,

Lin,

Sun

et al. 2024

Computational Design and Robotic Fabrication

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“…A third example is transforming traditional tools for sculpting using clay into advanced tools for robotic sculpting. In the project RobotSculptor: Artist-Directed Robotic Sculpting of Clay at Gramazio Kohler Research, a loop tool was utilised for advanced robotic sculpting in clay (Ma et al, 2020). A style for sculpting was developed, and the sculpting process was then automated and executed using the robot's arm (Ma et al, 2020).…”

Section: Digital Ceramic Craftsmanshipmentioning

confidence: 99%

“…In the project RobotSculptor: Artist-Directed Robotic Sculpting of Clay at Gramazio Kohler Research, a loop tool was utilised for advanced robotic sculpting in clay (Ma et al, 2020). A style for sculpting was developed, and the sculpting process was then automated and executed using the robot's arm (Ma et al, 2020). However, the sculpting process was based on something other than the craftsperson's direct interaction with the material since it was automated.…”

Section: Digital Ceramic Craftsmanshipmentioning

confidence: 99%

Human–Material Dialogues Through the Use of Robotics

Tvede Hansen

2023

FormAkademisk

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This research investigates and discusses an embodied craft learning situation in an educational context that aims to support students within architecture by applying human–material dialogues when using robotics. Initially, the students were introduced to traditional craftsmanship based on materials and tools in ceramics. Based on the gained experiential knowledge, the same tools and materials were applied and explored on a UR 5 robot. A sensor provided the students with the opportunity to interact with the material through the robot while it was operating. The learning situation showed the potential to teach the students about robotics based on human–material dialogues and embodiment through making. The sensor enabled the students to use their experiential knowledge to improvise and work intuitively and spontaneously while they were exploring patterning based on the tools attached to the robot and the responsive material.

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Tie a knot: human–robot cooperative workflow for assembling wooden structures using rope joints

et al. 2022

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In recent years, research in computational design and robotic fabrication in architecture, engineering, and construction (AEC) has made remarkable advances in automating construction processes, both in prefabrication and in-situ fabrication. However, little research has been done on how to leverage human-in-the-loop processes for large-scale robotic fabrication scenarios. In such processes, humans and robots support each other in fabrication operations that neither of them could handle alone, leading to new opportunities for the AEC domain. In this paper, we present Tie a knot, an experimental study that introduces a set of digital tools and workflows that enables a novel human–robot cooperative workflow for assembling a complex wooden structure with rope joints. The system is designed for a dually augmented human–robot team involving two mobile robots and two humans, facilitated by a shared digital-physical workspace. In this shared workspace, digital spatial data informs humans about the design space and fabrication-related boundary conditions for decision-making during assembly. As such, humans can manually place elements at locations of their choice, following a set of design rules that affect the gradual evolution of the structure. In direct response to such manually placed elements, the cooperating robots can continue the assembly cycle by precisely placing elements and stabilizing the overall structure. During robotic stabilization, the humans make rope connections, which require high dexterity. The concept and workflow were physically implemented and validated through the cooperative assembly of a complex timber structure over five days. As part of this experimental investigation, we demonstrated and evaluated the performance of two tracking methods that allowed the digitization of the manually placed elements. In closing, the paper discusses the technological challenges and how a hybrid human–robot team could open new avenues for digital fabrication in architecture, accelerating the adoption of robotic technology in AEC.

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RobotSculptor: Artist-Directed Robotic Sculpting of Clay

Cited by 6 publications

References 30 publications

A ‘Human-In-The-Loop’ Workflow for Realizing Taihu Rocks

A ‘Human-In-The-Loop’ Workflow for Realizing Taihu Rocks

Human–Material Dialogues Through the Use of Robotics

Tie a knot: human–robot cooperative workflow for assembling wooden structures using rope joints

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