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dc.contributor.author
Mascaro, Ruben
dc.contributor.author
Wermelinger, Martin
dc.contributor.author
Hutter, Marco
dc.contributor.author
Chli, Margarita
dc.date.accessioned
2021-02-22T10:36:06Z
dc.date.available
2020-12-21T18:36:32Z
dc.date.available
2020-12-22T08:56:56Z
dc.date.available
2021-02-22T10:36:06Z
dc.date.issued
2020
dc.identifier.issn
1556-4959
dc.identifier.issn
1556-4967
dc.identifier.other
10.1002/rob.22007
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/457938
dc.identifier.doi
10.3929/ethz-b-000457938
dc.description.abstract
Automating building processes through robotic systems has the potential to address the need for safer, more efficient, and sustainable construction operations. While ongoing research effort often targets the use of prefabricated materials in controlled environments, here we focus on utilizing objects found on‐site, such as irregularly shaped rocks and rubble, as a way of enabling novel types of construction in remote and extreme environments, where standard building materials might not be easily accessible. In this article, we present a perception and grasp pose planning pipeline for autonomous manipulation of objects of interest with a robotic walking excavator. The system incrementally builds a LiDAR‐based map of the robot's surroundings and provides the ability to register externally reconstructed point clouds of the scene, for example, from images captured by a drone‐borne camera, which helps increasing map coverage. In addition, object‐like instances, such as stones, are segmented out of this map. Based on this information, collision‐free grasping poses for the robotic manipulator are planned to enable picking and placing of these objects, while keeping track of them during the manipulation. The approach is validated in a real setting on an architectural relevant scale by segmenting and manipulating boulders of several hundred kilograms, which is a first step towards the full automation of dry‐stack wall building processes.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Wiley
en_US
dc.subject
On site robotics
en_US
dc.subject
Mapping
en_US
dc.subject
Object segmentation
en_US
dc.subject
Mobile manipulation
en_US
dc.title
Towards Automating Construction Tasks: Large-Scale Object Mapping, Segmentation and Manipulation
en_US
dc.type
Journal Article
ethz.journal.title
Journal of Field Robotics
ethz.journal.abbreviated
J. field robot.
ethz.size
23 p. accepted version
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.identifier.wos
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::09559 - Chli, Margarita (SNF-Professur) / Chli, Margarita (SNF-Professur)
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::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::09559 - Chli, Margarita (SNF-Professur) / Chli, Margarita (SNF-Professur)
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.date.deposited
2020-12-21T18:36:40Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Embargoed
en_US
ethz.date.embargoend
2021-12-22
ethz.rosetta.exportRequired
true
ethz.COinS
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