Open AccessLeveraging Building Material as Part of the In‐Plane Robotic Kinematic System for Collective Construction
Author(s) -
Leder Samuel,
Kim HyunGyu,
Oguz Ozgur Salih,
Kubail Kalousdian Nicolas,
Hartmann Valentin Noah,
Menges Achim,
Toussaint Marc,
Sitti Metin
Publication year - 2022
Publication title -
advanced science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 5.388
H-Index - 100
ISSN - 2198-3844
DOI - 10.1002/advs.202201524
Subject(s) - modularity (biology) , modular design , robot , flexibility (engineering) , workflow , computer science , robotics , actuator , software , kinematics , engineering , systems engineering , simulation , human–computer interaction , artificial intelligence , operating system , statistics , genetics , physics , mathematics , classical mechanics , database , biology
Although collective robotic construction systems are beginning to showcase how multi‐robot systems can contribute to building construction by efficiently building low‐cost, sustainable structures, the majority of research utilizes non‐structural or highly customized materials. A modular collective robotic construction system based on a robotic actuator, which leverages timber struts for the assembly of architectural artifacts as well as part of the robot body for locomotion is presented. The system is co‐designed for in‐plane assembly from an architectural, robotic, and computer science perspective in order to integrate the various hardware and software constraints into a single workflow. The system is tested using five representative physical scenarios. These proof‐of‐concept demonstrations showcase three tasks required for construction assembly: the ability of the system to locomote, dynamically change the topology of connecting robotic actuators and timber struts, and collaborate to transport timber struts. As such, the groundwork for a future autonomous collective robotic construction system that could address collective construction assembly and even further increase the flexibility of on‐site construction robots through its modularity is laid.