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supported by the sibling associations ACADIA, CAADRIA, eCAADe, SIGraDi, ASCAAD and CAAD futures

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id caadria2020_021
authors Firth, Charlotte, Dunn, Kate, King, Madison and Haeusler, M. Hank
year 2020
title Development of an Anthropomorphic End-effector for Collaborative use on Construction Sites
source D. Holzer, W. Nakapan, A. Globa, I. Koh (eds.), RE: Anthropocene, Design in the Age of Humans - Proceedings of the 25th CAADRIA Conference - Volume 2, Chulalongkorn University, Bangkok, Thailand, 5-6 August 2020, pp. 363-372
summary This paper describes the design and development of anthropomorphic end effectors for collaborative robots for use in the construction industry. The research focuses on the form and function of the end effectors including an in-depth investigation of soft robotic techniques and sensor technologies. There is critical and legislative demand for automation in construction to meet increasing labour shortages, a growing population and ensure safe work environments. In an attempt to address these demands industry originally looked to replace human labour, however, in the last 5 years, the focus has shifted to human-machine collaboration, particularly collaborative robots. To ensure safety and increase productivity, end effectors also need to be well designed and collaborative. This research, its proposed hypothesis, methodology, implications, significance and evaluation are presented in the paper.
keywords End Effector; Construction Industry; Collaborative Robotics; Soft Robotics; Sensor Technology
series CAADRIA
email m.haeusler@unsw.edu.au
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100%; open Al-Ibadi, A, Nefti-Meziani, S and Davis, S (2018) Find in CUMINCAD Active Soft End Effectors for Efficient Grasping and Safe Handling , IEEE Access, pp. 23591-23601

100%; open Deimel, R and Brock, O (2016) Find in CUMINCAD A novel type of compliant and underactuated robotic hand for dexterous grasping , The International Journal of Robotics Research,, 35(1-3), pp. 161-185

100%; open Kontoudis, G P, Liarokapis, M V, Zisimatos, A G, Mavrogiannis, C and Kyriakopoulos, K (2015) Find in CUMINCAD Open-source, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism: Towards affordable prostheses , International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, p. 5857

100%; open Mcniff, J (2013) Find in CUMINCAD Action Research: Principles and practice , Taylor and Francis

100%; open Mosadegh, B, Polygerinos, P, Keplinger, C, Wennsted, S, Shepherd, R.F, Gupta, U and Whitesides, G.M (2014) Find in CUMINCAD Pneumatic Networks for Soft Robotics that Actuate Rapidly , Advanced Functional Materials, 24(15), pp. 2163-2170

100%; open Polygerinos, P, Wang, Z, Overvelde, J, Galloway, K, Wood, R, Bertoldi, K and Walsh, C (2015) Find in CUMINCAD Modeling of Soft Fiber-Reinforced Bending Actuators , IEEE TRANSACTIONS ON ROBOTICS, pp. 778-789

100%; open Reinhardt, D, Haeusler, M.H, Loke, L, De Oliveira Barata, E, Firth, C, Khean, N and Watt, R (2019) Find in CUMINCAD CoBuilt-Towards a novel methodology for workflow capture and analysis of carpentry tasks for human-robot collaboration. , Proceedings of the 37th eCAADe and 23rd SIGraDi Conference, pp. 207-206

100%; open Rosenberg, E, Haeusler, M.H, Araullo, R and Gardener, N (2015) Find in CUMINCAD Smart Architecture-Bots & Industry 4.0 Principles for Architecture , Proceeding of the 33rd eCAADe Conference 2, pp. 251-259

100%; open Rus, D and Tolley, M (2015) Find in CUMINCAD Design, Fabrication and Control of Soft Robots , Nature, 521, pp. 467-475

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