Greedy Stone Tower Creations with a Robotic Arm
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Author / Producer
Date
2018
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
Predominately, robotic construction is applied as prefabrication in structured indoor environments with standard building materials. Our work, on the other hand, focuses on utilizing irregular materials found on-site, such as rubble and rocks, for autonomous construction. We present a pipeline to detect arbitrarily placed objects in a scene and form a structure out of the detected objects. The next best stacking pose is selected using a searching method employing gradient descent with ran dom initial orientations, exploiting a physics engine. This approach is validated in an experimental setup using a robotic manipulator by constructing balancing vertical stacks without mortars and adhesives. We show the results of eleven consecutive trials to form such towers autonomously using four arbitrarily in front of the robot placed rocks.
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Publication status
published
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Editor
Book title
Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence (IJCAI-18)
Volume
Pages / Article No.
5394 - 5398
Publisher
Lawrence Erlbaum Associates
Event
27th International Joint Conference on Artificial Intelligence (IJCAI 2018)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Organisational unit
09570 - Hutter, Marco / Hutter, Marco
03708 - Gramazio, Fabio / Gramazio, Fabio
03709 - Kohler, Matthias / Kohler, Matthias
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
Notes
RSL; dfab; manipulation; construction; robotic