Browsing by Subject "Co-design strategy"

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    Leveraging building material as part of the in-plane robotic kinematic system for collective construction
    (Advanced Science, 2022-06-24) Leder, S.; Kim, H.; Oguz, Ozgur Salih; Kalousdian, N. K.; Hartmann, V. N.; Menges, A.; Toussaint, M.; Sitti, M.
    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.