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id acadia19_40
authors Garcia del Castillo y López, Jose Luis
year 2019
title Robot Ex Machina
source ACADIA 19:UBIQUITY AND AUTONOMY [Proceedings of the 39th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-578-59179-7] (The University of Texas at Austin School of Architecture, Austin, Texas 21-26 October, 2019) pp. 40-49
summary Industrial robotic arms are increasingly present in digital fabrication workflows due to their robustness, degrees of freedom, and potentially large scale. However, the range of possibilities they provide is limited by their typical software control paradigms, specifically offline programming. This model requires all the robotic instructions to be pre-defined before execution, a possibility only affordable in highly predictable environments. But in the context of architecture, design and art, it can hardly accommodate more complex forms of control, such as responding to material feedback, adapting to changing conditions on a construction site, or on-the-fly decision-making. We present Robot Ex Machina, an open-source computational framework of software tools for real-time robot programming and control. The contribution of this framework is a paradigm shift in robot programming models, systematically providing a platform to enable real-time interaction and control of mechanical actuators. Furthermore, it fosters programming styles that are reactive to, rather than prescriptive about, the state of the robot. We argue that this model is, compared to traditional offline programming, beneficial for creative individuals, as its concurrent nature and immediate feedback provide a deeper and richer set of possibilities, facilitates experimentation, flow of thought, and creative inquiry. In this paper, we introduce the framework, and discuss the unifying model around which all its tools are designed. Three case studies are presented, showcasing how the framework provides richer interaction models and novel outcomes in digital making. We conclude by discussing current limitations of the model and future work.
series ACADIA
type normal paper
email personal@garciadelcastillo.es
full text file.pdf (1,911,703 bytes)
references Content-type: text/plain
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100%; open García del Castillo y López, Jose Luis (2019) Find in CUMINCAD Enactive Robotics: An Action-State Model for Concurrent Machine Control , D.Des. Dissertation, Harvard University

100%; open García del Castillo y López, Jose Luis (2019) Find in CUMINCAD Machina.NET: A Library for Programming and Real-Time Control of Industrial Robots , Journal of Open Research Software 7(1): 27. Ubiquity Press. http://doi.org/10.5334/jors.247

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100%; open Seibold, Zach, Kevin Hinz, Jose Luis García del Castillo y López, Nono Martínez Alonso, Saurabh Mhatre, and Martin Bechthold. (2018) Find in CUMINCAD Ceramic Morphologies. Precision and Control in Paste- Based Additive Manufacturing , ACADIA 2018; Proceedings of the 38th Annual Conference of the Association for Computer-Aided Design Architecture, 350-357. Universidad Iberoamericana

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