CumInCAD is a Cumulative Index about publications in Computer Aided Architectural Design
supported by the sibling associations ACADIA, CAADRIA, eCAADe, SIGraDi, ASCAAD and CAAD futures

id acadia16_184
authors Vasey; Lauren; Long Nguyen; Tovi Grossman; Heather Kerrick; Danil Nagy; Evan Atherton; David Thomasson; Nick Cote; David Benjamin; George Fitzmaurice; Achim Menges
year 2016
title Collaborative Construction: Human and Robotic Collaboration Enabling the Fabrication and Assembly of a Filament-Wound Structure
source ACADIA // 2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines [Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-77095-5] Ann Arbor 27-29 October, 2016, pp. 184-195
summary In this paper, we describe an interdisciplinary project and live-exhibit that investigated whether untrained humans and robots could work together collaboratively towards the common goal of building a large-scale structure composed out of robotically fabricated modules using a filament winding process. We describe the fabrication system and exhibition setup, including a custom end effector and tension control mechanism, as well as a collaborative fabrication process in which instructions delivered via wearable devices enable the trade-off of production and assembly tasks between human and robot. We describe the necessary robotic developments that facilitated a live fabrication process, including a generic robot inverse kinematic solver engine for non-spherical wrist robots, and wireless network communication connecting hardware and software. In addition, we discuss computational strategies for the fiber syntax generation and robotic motion planning which mitigated constraints such as reachability, axis limitations, and collisions, and ensured predictable and therefore safe motion in a live exhibition setting. We discuss the larger implications of this project as a case study for handling deviations due to non-standardized materials or human error, as well as a means to reconsider the fundamental separation of human and robotic tasks in a production workflow. Most significantly, the project exemplifies a hybrid domain of human and robot collaboration in which coordination and communication between robots, people, and devices can enhance the integration of robotic processes and computational control into the characteristic processes of construction.
keywords machin vision, cyber-physical systems, internet of things, robotic fabrication, human robot collaboration, sensate systems
series ACADIA
type paper
email lauren.vasey@icd.uni-stuttgart.de
full text file.pdf (971,576 bytes)
references Content-type: text/plain
details citation check to select
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100%; open Helm, Volker, Jan Willmann, Fabio Gramazio, and Matthias Kohler (2014) Find in CUMINCAD In-situ Robotic Fabrication: Advanced Digital Manufacturing Beyond the Laboratory , Gearing Up and Accelerating Cross-Fertilization Between Academic and Industrial Robotics Research in Europe., edited by Florian Röhrbein, Germano Veiga, and Ciro Natale. Vol. 94 of Springer Tracts in Advanced Robotics. Cham, Switzerland: Springer. 63–83.
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100%; open Lafreniere, Benjamin, Tovi Grossman, Fraser Anderson, Justin Matejka, Heather Kerrick, Danil Nagy,Lauren Vasey, Evan Atherton, Nicholas Beirne, Marcelo Coelho, Nicholas Cote, Steven Li, Andy Nogueira, Long Nguyen, Tobias Schwinn, James Stoddart, David Thomasson, Ray Wang, Thomas White, David Benjamin, Maurice Conti, Achim Menges, and George Fitzmaurice (2016) Find in CUMINCAD Crowdsourced Fabrication , Proceedings of the 29th Annual ACM Symposium on User Interface Software & Technology. Tokyo: UIST. Forthcoming conference.
100%; open Menges, Achim, and Tobias Schwinn (2012) Find in CUMINCAD Manufacturing Reciprocities , Architectural Design 82 (2): 118–125
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100%; open Menges, Achim (2015) Find in CUMINCAD The New Cyber-Physical Making in Architecture: Computational Construction , Architectural Design 85 (5): 28–33
100%; open Prado, Marshall, Moritz Dörstelmann, and Tobias Schwinn (2014) Find in CUMINCAD Coreless Filament Winding , Rob | Arch 2014: Robotic Fabrication in Architecture, Art and Design 2014, edited by Wes McGee and Monica Ponce de Leon. Cham, Switzerland: Springer. 275–289.
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