• 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.

      Learning robotic manipulation of natural materials with variable properties for construction tasks

      Thumbnail
      View / Download
      2.5 Mb
      Author(s)
      Kalousdian, N. K.
      Lochnicki, G.
      Hartmann, V. N.
      Leder, S.
      Oğuz, Özgür S.
      Menges, A.
      Toussaint, M.
      Date
      2022-03-15
      Source Title
      IEEE Robotics and Automation Letters
      Electronic ISSN
      2377-3766
      Publisher
      Institute of Electrical and Electronics Engineers
      Volume
      7
      Issue
      2
      Pages
      5749 - 5756
      Language
      English
      Type
      Article
      Item Usage Stats
      4
      views
      6
      downloads
      Abstract
      The introduction of robotics and machine learning to architectural construction is leading to more efficient construction practices. So far, robotic construction has largely been implemented on standardized materials, conducting simple, predictable, and repetitive tasks. We present a novel mobile robotic system and corresponding learning approach that takes a step towards assembly of natural materials with anisotropic mechanical properties for more sustainable architectural construction. Through experiments both in simulation and in the real world, we demonstrate a dynamically adjusted curriculum and randomization approach for the problem of learning manipulation tasks involving materials with biological variability, namely bamboo. Using our approach, robots are able to transport bamboo bundles and reach to goal-positions during the assembly of bamboo structures.
      Keywords
      AI-enabled robotics
      Hardware-software
      Integration in robotics
      Robotics and automation in construction
      Permalink
      http://hdl.handle.net/11693/111943
      Published Version (Please cite this version)
      https://doi.org/10.1109/LRA.2022.3159288
      Collections
      • Department of Computer Engineering 1568
      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