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dc.contributor.author
Wermelinger, Martin
dc.contributor.author
Furrer, Fadri
dc.contributor.author
Yoshida, Hironori
dc.contributor.author
Gramazio, Fabio
dc.contributor.author
Kohler, Matthias
dc.contributor.author
Siegwart, Roland
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2019-01-07T07:23:22Z
dc.date.available
2018-10-23T07:41:51Z
dc.date.available
2018-10-23T09:21:14Z
dc.date.available
2018-10-23T09:22:59Z
dc.date.available
2019-01-07T07:23:22Z
dc.date.issued
2018
dc.identifier.isbn
978-0-9992411-2-7
en_US
dc.identifier.other
10.24963/ijcai.2018/760
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/298048
dc.identifier.doi
10.3929/ethz-b-000298048
dc.description.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.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Lawrence Erlbaum Associates
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.title
Greedy Stone Tower Creations with a Robotic Arm
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2018-10-23
ethz.book.title
Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence (IJCAI-18)
en_US
ethz.journal.title
IJCAI International Joint Conference on Artificial Intelligence
ethz.pages.start
5394
en_US
ethz.pages.end
5398
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.event
27th International Joint Conference on Artificial Intelligence (IJCAI 2018)
en_US
ethz.event.location
Stockholm, Sweden
en_US
ethz.event.date
July 13-19, 2018
en_US
ethz.notes
RSL; dfab; manipulation; construction; robotic
en_US
ethz.publication.place
s.l.
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02602 - Inst. f. Technologie in der Architektur / Institute for Technology in Architecture::03708 - Gramazio, Fabio / Gramazio, Fabio
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02602 - Inst. f. Technologie in der Architektur / Institute for Technology in Architecture::03709 - Kohler, Matthias / Kohler, Matthias
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02602 - Inst. f. Technologie in der Architektur / Institute for Technology in Architecture::03708 - Gramazio, Fabio / Gramazio, Fabio
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02602 - Inst. f. Technologie in der Architektur / Institute for Technology in Architecture::03709 - Kohler, Matthias / Kohler, Matthias
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.date.deposited
2018-10-23T07:41:52Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-10-23T09:21:20Z
ethz.rosetta.lastUpdated
2021-02-15T03:13:30Z
ethz.rosetta.versionExported
true
ethz.COinS
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