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dc.contributor.author
Huang, Yijiang
dc.contributor.author
Leung, Pok Yin
dc.contributor.author
Garrett, Caelan
dc.contributor.author
Gramazio, Fabio
dc.contributor.author
Kohler, Matthias
dc.contributor.author
Mueller, Caitlin
dc.contributor.editor
Spencer, Stephen N.
dc.date.accessioned
2021-12-07T08:15:23Z
dc.date.available
2021-12-03T10:19:23Z
dc.date.available
2021-12-07T08:15:23Z
dc.date.issued
2021-10
dc.identifier.isbn
978-1-4503-9090-3
en_US
dc.identifier.other
10.1145/3485114.3485122
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/518440
dc.identifier.doi
10.3929/ethz-b-000518440
dc.description.abstract
Construction robotics are increasingly popular in the architectural fabrication community due to their accuracy and flexibility. Because of their high degree of motion freedom, these tools are able to assemble complex structures with irregular designs, which advances architectural aesthetics and structural performance. However, automated task and motion planning (TAMP) for a robot to assemble non-repetitive objects can be challenging due to (1) a nonrepetitive assembly pattern (2) the need for a continuous robotic motion throughout a sequence of movement (3) a congested construction scene and (4) occasional robot configuration constraints due to taught positions. Recent work has already begun to address these challenges for repetitive assembly processes, where the robot repeats a pattern of primitive behaviors (e.g. brick stacking or spatial extrusion). Yet, there are many assembly processes that can benefit from a non-repetitive pattern. For example, processes can change tools on an element-by-element level to accommodate a wider range of geometry. Our work is motivated by the necessity of robotic modeling and planning for a recently published timber assembly process which utilizes distributed robotic clamps to press together interlocking joints. In addition to pick-and-place operations, the robot needs to move numerous tools within the construction scene, similar to a tool-change operation. In order to facilitate an agile process for architectural design, construction process design, and TAMP, we introduce a flowchart-based specification language which allows various designers to describe their design and construction intent and knowledge. A compiler can then translate the assembly description, sequence, process flowchart, and robotic setup into a plan skeleton. Additionally, we present a linear and a non-linear solving algorithm that can solve the plan skeleton for a full sequence of robot motions. This algorithm can be customized to take into account designer intuition, which can speed up the planning process. We provide a comparison of the two algorithms using the timber assembly process as our case study. We validate our results by robotically executing and constructing a large-scale real-world timber structure. Finally, we demonstrate the flexibility of our flowchart by showing how custom assembly actions are modeled in our case study. We also demonstrate how other recently published robotic assembly processes can be formulated using our flowcharts to demonstrate generalizability.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Association for Computing Machinery
en_US
dc.rights.uri
http://creativecommons.org/licenses/by/4.0/
dc.subject
Computer-aided design (CAD)
en_US
dc.subject
DIGITAL FABRICATION IN ARCHITECTURE
en_US
dc.subject
COMPUTER AIDED MANUFACTURING, CAM (PRODUCTION)
en_US
dc.subject
Distributed Robotic Tools
en_US
dc.subject
Task and Motion Planning
en_US
dc.subject
Robotic Assembly
en_US
dc.title
The new analog: A protocol for linking design and construction intent with algorithmic planning for robotic assembly of complex structures
en_US
dc.type
Conference Paper
dc.rights.license
Creative Commons Attribution 4.0 International
ethz.book.title
Proceedings SCF 2021 ACM Symposium on Computational Fabrication, October 28–29, 2021
en_US
ethz.pages.start
9
en_US
ethz.size
17 p.
en_US
ethz.version.deposit
publishedVersion
en_US
ethz.code.ddc
DDC - DDC::6 - Technology, medicine and applied sciences::600 - Technology (applied sciences)
en_US
ethz.event
6th annual ACM Symposium on Computational Fabrication (SCF 2021)
en_US
ethz.event.location
online
en_US
ethz.event.date
October 28–29, 2021
en_US
ethz.notes
Conference lecture held on October 29, 2021
en_US
ethz.grant
NCCR Digital Fabrication
en_US
ethz.identifier.scopus
ethz.publication.place
New York, NY
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::02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
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.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.grant.agreementno
--
ethz.grant.fundername
SNF
ethz.grant.funderDoi
10.13039/501100001711
ethz.grant.program
NCCR (NFS)
ethz.relation.cites
10.3929/ethz-b-000481928
ethz.date.deposited
2021-12-03T10:19:28Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2021-12-07T08:16:11Z
ethz.rosetta.lastUpdated
2022-03-29T16:27:29Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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