Rock print Pavilion: robotically fabricating architecture from rock and string

Aejmelaeus-Lindström, Petrus; Rusenova, Gergana; Mirjan, Ammar; Ibáñez, Jesús Medina; Gramazio, Fabio; Köhler, Matthias

doi:10.1007/s41693-020-00027-8

Cited by 8 publications

(3 citation statements)

References 19 publications

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“…Although the current level of porosity is unproblematic for a variety of utility structures and can even be desirable as supplemental habitat for local flora and fauna ( 77 ) or for water flow in breakwaters, reducing this void ratio can increase a stone gravity wall’s resistance to incident forces ( 40 ) and reduce the permeability of structures intended to enclose indoor spaces. Potential approaches to filling the gaps between stones could include mortar printing ( 52 ), rammed-earth or clay construction ( 78 ), and jammed tensile-reinforced gravel printing ( 79 ) or, in an extraterrestrial context, regolith sintering ( 80 ) or binder-supplemented microscale assembly ( 81 ). Toward the more traditional insertion of small filling stones, we consider the application of a compound manipulator for macro-micro assembly (fig.…”

Section: Discussionmentioning

confidence: 99%

“…between stones could include mortar printing (52), rammed-earth or clay construction (78), and jammed tensile-reinforced gravel printing (79) or, in an extraterrestrial context, regolith sintering (80) or binder-supplemented microscale assembly (81). Toward the more traditional insertion of small filling stones, we consider the application of a compound manipulator for macro-micro assembly (fig.…”

Section: Multiscalar Constructionmentioning

confidence: 99%

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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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Section: Discussionmentioning

confidence: 99%

Section: Multiscalar Constructionmentioning

confidence: 99%

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

Johns,

Wermelinger,

Mascaro

et al. 2023

Sci. Robot.

View full text Add to dashboard Cite

show abstract

“…This offers unprecedented opportunities for flexibility in shapes and materials, providing a high degree of customization for accelerated innovation, decentralized production, and increased sustainability due to reduced overall waste. AM suits a range of length scales, from meter-sized large objects like buildings (3) or aircraft jet engine parts (4), to conventionally sized plastics printed for do-it-yourself and hobby applications and, finally, to sizes confined within micro-and nanometer dimensions. In the latter case, AM is particularly advantageous: While traditional microfabrication remains essentially within the realm of planar thin film technology, the third (vertical) dimension unlocked by AM offers almost unlimited possibilities in microsystems architecture.…”

Section: Benefits Of 3d Printing At a Small Scalementioning

confidence: 99%

Beginner's Guide to Micro- and Nanoscale Electrochemical Additive Manufacturing

Hengsteler

Kanes

Khasanova

et al. 2023

Annual Rev. Anal. Chem.

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Electrochemical additive manufacturing is an advanced microfabrication technology capable of producing features of almost unlimited geometrical complexity. A unique combination of the capacity to process conductive materials, design freedom, and micro- to nanoscale resolution offered by these electrochemical techniques promises tremendous opportunities for a multitude of future applications spanning microelectronics, sensing, robotics, and energy storage. This review aims to equip readers with the basic principles of electrochemical 3D printing at the small length scale. By describing the basic principles of electrochemical additive manufacturing technology and using the recent advances in the field, this beginner's guide illustrates how controlling the fundamental phenomena that underpin the print process can be used to vary dimensions, morphology, and microstructure of printed structures. Expected final online publication date for the Annual Review of Analytical Chemistry, Volume 16 is June 2023. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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Circular Robotic Construction

Vasey,

Aejmelaeus-Lindström,

Jenny

et al. 2024

Circular Economy and Sustainability

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In situ robotic construction is a type of construction where mobile robotic systems build directly on the building site. To enable on-site navigation, industrial robots can be integrated with mobile bases, while mobile, high-payload construction machines can be adapted for autonomous operation. With parallel advances in sensor processing, these robotic construction processes can become robust and capable of handling non-standard, local, as-found materials.The potential of using autonomous, mobile robotic systems for the development of innovative circular construction processes is presented in three exemplary case studies:(i) robotically jammed structures from bulk materials, (ii) robotic earthworks with local and upcycled materials, and (iii) robotic additive manufacturing with earth-based materials. These processes exemplify key strategies for a circular industry through the utilisation of materials with low embodied greenhouse gas emissions and the implementation of fully reversible construction processes.For each case study, we describe the robotic building process, the enabling technologies and workflows, and the major sustainability and circularity benefits compared to conventional construction methods. Moreover, we discuss the difficulty of industry transfer, considering challenges such as detailing, integration, and engineering validation. We conclude with an outlook towards future research avenues and industry adoption strategies.

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Rock print Pavilion: robotically fabricating architecture from rock and string

Cited by 8 publications

References 19 publications

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

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

Beginner's Guide to Micro- and Nanoscale Electrochemical Additive Manufacturing

Circular Robotic Construction

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