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

PDF papers
References
id ecaadesigradi2019_280
authors Rossi, Gabriella and Nicholas, Paul
year 2019
title Haptic Learning - Towards Neural-Network-based adaptive Cobot Path-Planning for unstructured spaces
source Sousa, JP, Xavier, JP and Castro Henriques, G (eds.), Architecture in the Age of the 4th Industrial Revolution - Proceedings of the 37th eCAADe and 23rd SIGraDi Conference - Volume 2, University of Porto, Porto, Portugal, 11-13 September 2019, pp. 201-210
summary Collaborative Robots, or Cobots, bring new possibilities for human-machine interaction within the fabrication process, allowing each actor to contribute with their specific capabilities. However creative interaction brings unexpected changes, obstacles, complexities and non-linearities which are encountered in real time and cannot be predicted in advance. This paper presents an experimental methodology for robotic path planning using Machine Learning. The focus of this methodology is obstacle avoidance. A neural network is deployed, providing a relationship between the robot's pose and its surroundings, thus allowing for motion planning and obstacle avoidance, directly integrated within the design environment. The method is demonstrated through a series of case-studies. The method combines haptic teaching with machine learning to create a task specific dataset, giving the robot the ability to adapt to obstacles without being explicitly programmed at every instruction. This opens the door to shifting to robotic applications for construction in unstructured environments, where adapting to the singularities of the workspace, its occupants and activities presents an important computational hurdle today.
keywords Architectural Robotics; Neural Networks; Path Planning; Digital Fabrication; Artificial Intelligence; Data
series eCAADeSIGraDi
email gr@gabriellarossi.tech
full text file.pdf (11,061,043 bytes)
references Content-type: text/plain
Details Citation Select
100%; open Bloss, R (2014) Find in CUMINCAD Robots have come to architecture to model, construct, fabricate and offer new approaches to create innovative designs, elements and structures , Industrial Robot: An International Journal, 41(5), pp. 403-407

100%; open Bonwetsch, T (2015) Find in CUMINCAD Robotically assembled brickwork: Manipulating assembly processes of discrete elements , Ph.D. Thesis, ETH Zurich

100%; open Braumann, J, Stumm, S and Brell-cokcan, S (2016) Find in CUMINCAD Towards New Robotic Design Tools: Using Collaborative Robots within the Creative Industry , ACADIA // 2016: POSTHUMAN FRONTIERS: Data, Designers, and Cognitive Machines, Ann Arbor, pp. 164-173

100%; open Brell-Cokcan, S and Braumann, J (2010) Find in CUMINCAD A New Parametric Design Tool for Robot Milling , Proceedings of ACADIA 2010, pp. 357-363

100%; open Gandia, A, Parascho, S, Rust, R, Casas, G, Gramazio, F and Kohler, M (2018) Find in CUMINCAD Towards Automatic Path Planning for Robotically Assembled Spatial Structures , Robotic Fabrication in Architecture, Art and Design 2018, Zurich, pp. 59-73

100%; open Iturrate, I, Hallundb?k, E, ?stergaard, M and Savarimuthu, TR (2017) Find in CUMINCAD Learning and correcting robot trajectory keypoints from a single demonstration , Control, Automation and Robotics (ICCAR), 2017 3rd International Conference, pp. 52-59

100%; open Menges, A (2012) Find in CUMINCAD Morphospaces of robotic fabrication , Robotic Fabrication in Architecture, Art and Design 2012, pp. 28-47

100%; open Nicholas, P (2018) Find in CUMINCAD Fabrication for Differentiation: Towards an Adaptive Material Practice , Daas, M and Wit, AJ (eds), Towards a Robotic Architecture, ORO Editions

100%; open Peshkin, MA, Colgate, JE, Wannasuphoprasit, W, Moore, CA, Gillespie, RB and Akella, P (2001) Find in CUMINCAD Cobot Architecture , IEEE Transactions on Robotics and Automation, pp. 377-390

100%; open Rossi, G and Nicholas, P (2018) Find in CUMINCAD Re/Learning the Wheel: Methods to Utilize Neural Networks as Design Tools for Doubly Curved Metal Surfaces , ACADIA // 2018: Recalibration. On imprecisionand infidelity., Mexico City, pp. 146-155

100%; open Scheinman, V, McCarthy, J and Song, J (2016) Find in CUMINCAD Mechanism and Actuation , Siciliano, B and Khatib, O (eds), Springer Handbook of Robotics, Springer

100%; open Stumm, S and Brell-Cokcan, S (2018) Find in CUMINCAD Haptic Programming , Robotic Fabrication in Architecture, Art and Design 2018, pp. 44-58

100%; open Stumm, S, Braumann, J and Brell-Cokcan, S (2016) Find in CUMINCAD Human-Machine Interaction for Intuitive Programming of Assembly Tasks in Construction , Procedia CIRP, 44, pp. 269-274

100%; open Svilans, T, Tamke, M, Ramsgaard Thomsen, M, Runberger, J, Strehlke, K and Antemann, M (2019) Find in CUMINCAD New Workflows for Digital Timber: Innovative Techniques of Representation in Architectural Design , Bianconi, F and Filippucci, M (eds), Digital Wood Design, Springer

100%; open Welschehold, T, Dornhege, C and Burgard, W (2017) Find in CUMINCAD Learning mobile manipulation actions from human demonstrations , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, pp. 3196-3201

100%; open Wu, K and Kilian, A (2018) Find in CUMINCAD Designing Natural Wood Log Structures with Stochastic Assembly and Deep Learning , Robotic Fabrication in Architecture, Art and Design 2018

100%; open Zou, AM, Hou, ZG, Fu, SY and Tan, M (2006) Find in CUMINCAD Neural networks for mobile robot navigation: a survey , International Symposium on Neural Networks, Berlin, pp. 1218-1226

last changed 2019/08/26 20:26
pick and add to favorite papersHOMELOGIN (you are user _anon_450434 from group guest) CUMINCAD Papers Powered by SciX Open Publishing Services 1.002