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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. Show more
Book titleProceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence (IJCAI-18)
Journal / seriesIJCAI International Joint Conference on Artificial Intelligence
Pages / Article No.
PublisherLawrence Erlbaum Associates
Organisational unit09570 - Hutter, Marco / Hutter, Marco
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
03708 - Gramazio, Fabio / Gramazio, Fabio
03709 - Kohler, Matthias / Kohler, Matthias
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
NotesRSL; dfab; manipulation; construction; robotic
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