Journal
ADVANCED SCIENCE
Volume 9, Issue 24, Pages -Publisher
WILEY
DOI: 10.1002/advs.202201524
Keywords
architecture; co-design strategy; collective construction; construction robotics; task and motion planning
Categories
Funding
- Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Germany's Excellence Strategy [EXC 2120/1-390831618]
- Projekt DEAL
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This paper presents a modular collective robotic construction system utilizing timber struts and robotic actuators, and demonstrates its capabilities through experiments, laying the groundwork for future autonomous collective robotic construction systems.
Although collective robotic construction systems are beginning to showcase how multi-robot systems can contribute to building construction by efficiently building low-cost, sustainable structures, the majority of research utilizes non-structural or highly customized materials. A modular collective robotic construction system based on a robotic actuator, which leverages timber struts for the assembly of architectural artifacts as well as part of the robot body for locomotion is presented. The system is co-designed for in-plane assembly from an architectural, robotic, and computer science perspective in order to integrate the various hardware and software constraints into a single workflow. The system is tested using five representative physical scenarios. These proof-of-concept demonstrations showcase three tasks required for construction assembly: the ability of the system to locomote, dynamically change the topology of connecting robotic actuators and timber struts, and collaborate to transport timber struts. As such, the groundwork for a future autonomous collective robotic construction system that could address collective construction assembly and even further increase the flexibility of on-site construction robots through its modularity is laid.
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