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
id ecaadesigradi2019_360
authors Wei, Likai, Ta, La, Li, Liang, Han, Yang, Feng, Yingying, Wang, Xin and Xu, Zhen
year 2019
title RAF: Robot Aware Fabrication - Hand-motion Augmented Robotic Fabrication Workflow and Case Study
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. 241-250
summary Fabricating process with robotic awareness and creativity makes architect able to explore the new boundary between digital and material world. Although parametric and generative design method make diverse processing of materials possible for robots, it's still necessary to establish a new design-fabrication framework, where we could simultaneously deal with designers, robots, data, sensor technology and material natural characters. In order to develop a softer system without gap between preset program and robot's varying environments, this paper attempts to establish an environment-computer-robot workflow and transform traditional robotic fabrication from linear to more tangible and suitable for architects' and designers' intuitive motion and gesture. RAF (Robotic Aware Fabrication), a concept of real-time external enhancement fabrication is proposed, and a new workflow of HARF (Hand-motion Augmented Robotic Fabrication) is developed, where motion sensor captures designer's hand-motion, filter algorithm recognizes the intention and update the preset program, robotic controller and RSI (Robotic Sensor Interface) adjusts robot's TCP (Tool Center Point) path in real time. With HARF workflow, two case studies of Hand-motion robotic dance and Free-form concrete wall are made.
keywords RAF; HARF; Hand-motion Sensor; Styrofoam Mold; Concrete Wall; RSI
series eCAADeSIGraDi
full text file.pdf (11,303,831 bytes)
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