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While robotic spatial extrusion has demonstrated a new and efficient means tofabricate 3D truss structures in architectural scale, a major challenge remainsin automatically planning extrusion sequence and robotic motion for trusseswith unconstrained topologies. This paper presents the first attempt in thefield to rigorously formulate the extrusion sequence and motion planning (SAMP)problem, using a CSP encoding. Furthermore, this research proposes a newhierarchical planning framework to solve the extrusion SAMP problems thatusually have a long planning horizon and 3D configuration complexity. Bydecoupling sequence and motion planning, the planning framework is able toefficiently solve the extrusion sequence, end-effector poses, jointconfigurations, and transition trajectories for spatial trusses withnonstandard topologies. This paper also presents the first detailed computationdata to reveal the runtime bottleneck on solving SAMP problems, which providesinsight and comparing baseline for future algorithmic development. Togetherwith the algorithmic results, this paper also presents an open-source andmodularized software implementation called Choreo that is machine-agnostic. Todemonstrate the power of this algorithmic framework, three case studies,including real fabrication and simulation results, are presented.

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses