• About
  • Policies
  • What is open access
  • Library
  • Contact
Advanced search
      View Item 
      •   BUIR Home
      • Scholarly Publications
      • Faculty of Engineering
      • Department of Computer Engineering
      • View Item
      •   BUIR Home
      • Scholarly Publications
      • Faculty of Engineering
      • Department of Computer Engineering
      • View Item
      JavaScript is disabled for your browser. Some features of this site may not work without it.

      Leveraging building material as part of the in-plane robotic kinematic system for collective construction

      Thumbnail
      View / Download
      5.0 Mb
      Author(s)
      Leder, S.
      Kim, H.
      Oguz, Ozgur Salih
      Kalousdian, N. K.
      Hartmann, V. N.
      Menges, A.
      Toussaint, M.
      Sitti, M.
      Date
      2022-06-24
      Print ISSN
      2198-3844
      Electronic ISSN
      2198-3844
      Publisher
      Advanced Science
      Volume
      9
      Issue
      24
      Pages
      8 - 15
      Language
      English
      Type
      Article
      Item Usage Stats
      12
      views
      2
      downloads
      Abstract
      Although collective robotic construction systems are beginning to showcasehow multi-robot systems can contribute to building construction by efficientlybuilding low-cost, sustainable structures, the majority of research utilizesnon-structural or highly customized materials. A modular collective roboticconstruction system based on a robotic actuator, which leverages timberstruts for the assembly of architectural artifacts as well as part of the robotbody for locomotion is presented. The system is co-designed for in-planeassembly from an architectural, robotic, and computer science perspective inorder to integrate the various hardware and software constraints into a singleworkflow. The system is tested using five representative physical scenarios.These proof-of-concept demonstrations showcase three tasks required forconstruction assembly: the ability of the system to locomote, dynamicallychange the topology of connecting robotic actuators and timber struts, andcollaborate to transport timber struts. As such, the groundwork for a futureautonomous collective robotic construction system that could addresscollective construction assembly and even further increase the flexibility ofon-site construction robots through its modularity is laid.
      Keywords
      Architecture
      Co-design strategy
      Collective construction
      Construction robotics
      Task and motion planning
      Permalink
      http://hdl.handle.net/11693/111265
      Published Version (Please cite this version)
      https://dx.doi.org/10.1002/advs.202201524
      Collections
      • Department of Computer Engineering 1561
      Show full item record

      Browse

      All of BUIRCommunities & CollectionsTitlesAuthorsAdvisorsBy Issue DateKeywordsTypeDepartmentsCoursesThis CollectionTitlesAuthorsAdvisorsBy Issue DateKeywordsTypeDepartmentsCourses

      My Account

      Login

      Statistics

      View Usage StatisticsView Google Analytics Statistics

      Bilkent University

      If you have trouble accessing this page and need to request an alternate format, contact the site administrator. Phone: (312) 290 2976
      © Bilkent University - Library IT

      Contact Us | Send Feedback | Off-Campus Access | Admin | Privacy