Show simple item record

dc.contributor.author
Lussi, Manuel
dc.contributor.author
Sandy, Timothy
dc.contributor.author
Doerfler, Kathrin
dc.contributor.author
Hack, Norman
dc.contributor.author
Gramazio, Fabio
dc.contributor.author
Kohler, Matthias
dc.contributor.author
Buchli, Jonas
dc.date.accessioned
2018-12-04T14:51:24Z
dc.date.available
2018-11-22T09:45:45Z
dc.date.available
2018-12-04T14:51:24Z
dc.date.issued
2018
dc.identifier.isbn
978-1-5386-3081-5
en_US
dc.identifier.isbn
978-1-5386-3080-8
en_US
dc.identifier.isbn
978-1-5386-3082-2
en_US
dc.identifier.other
10.1109/ICRA.2018.8460480
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/305560
dc.identifier.doi
10.3929/ethz-b-000227968
dc.description.abstract
In this paper we present a system for the in situ fabrication of a full-scale, load-bearing, and doubly-curved steel reinforced concrete wall. Two complementary vision-based sensing systems provide the feedback necessary to build a 12 meter long steel wire mesh as part of a novel digital building process. The sensing systems provide estimates of the robot pose, referenced to the CAD model of the building site, as well as feedback on the accuracy of the built structure over the course of construction. This second piece of information is used to adapt the building plan to compensate for system inaccuracies and material deformations which occur during buildup. In this way, the structure was successfully built with 98% of the total geometry within 2 centimeters of the designed position. To the best of our knowledge, this is the largest structure which has been built by a mobile robot using solely vision-based sensing.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Digital Fabrication
en_US
dc.subject
Mobile Fabrication
en_US
dc.subject
In situ fabrication
en_US
dc.subject
Visual Sensing
en_US
dc.subject
Localisation and mapping
en_US
dc.title
Accurate and Adaptive In situ Fabrication of an Undulated Wall using an On-Board Visual Sensing System
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2018-09-13
ethz.book.title
2018 IEEE International Conference on Robotics and Automation (ICRA)
en_US
ethz.pages.start
3532
en_US
ethz.pages.end
3539
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.event
2018 IEEE International Conference on Robotics and Automation (ICRA)
en_US
ethz.event.location
Brisbane, Australia
en_US
ethz.event.date
May 21-25, 2018
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
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::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::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03965 - Buchli, Jonas (SNF-Professur) (ehem.) / Buchli, Jonas (SNF-Professur) (former)
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::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::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::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03965 - Buchli, Jonas (SNF-Professur) (ehem.) / Buchli, Jonas (SNF-Professur) (former)
en_US
ethz.date.deposited
2018-01-12T11:10:36Z
ethz.source
WOS
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-11-22T09:45:59Z
ethz.rosetta.lastUpdated
2019-01-03T12:43:05Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/302085
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/227968
ethz.COinS
ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.atitle=Accurate%20and%20Adaptive%20In%20situ%20Fabrication%20of%20an%20Undulated%20Wall%20using%20an%20On-Board%20Visual%20Sensing%20System&rft.date=2018&rft.spage=3532&rft.epage=3539&rft.au=Lussi,%20Manuel&Sandy,%20Timothy&Doerfler,%20Kathrin&Hack,%20Norman&Gramazio,%20Fabio&rft.isbn=978-1-5386-3081-5&978-1-5386-3080-8&978-1-5386-3082-2&rft.genre=proceeding&rft_id=info:doi/978-1-5386-3081-5&info:doi/978-1-5386-3080-8&info:doi/978-1-5386-3082-2&rft.btitle=2018%20IEEE%20International%20Conference%20on%20Robotics%20and%20Automation%20(ICRA)
 Search via SFX

Files in this item

Thumbnail

Publication type

Show simple item record