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_387
authors Wibranek, Bastian, Belousov, Boris, Sadybakasov, Alymbek, Peters, Jan and Tessmann, Oliver
year 2019
title Interactive Structure - Robotic Repositioning of Vertical Elements in Man-Machine Collaborative Assembly through Vision-Based Tactile Sensing
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. 705-713
summary The research presented in this paper explores a novel tactile sensor technology for architectural assembly tasks. In order to enable robots to interact both with humans and building elements, several robot control strategies had to be implemented. Therefore, we developed a communication interface between the architectural design environment, a tactile sensor and robot controllers. In particular, by combining tactile feedback with real-time gripper and robot control algorithms, we demonstrate grasp adaptation, object shape and texture estimation, slip and contact detection, force and torque estimation. We investigated the integration of robotic control strategies for human-robot interaction and developed an assembly task in which the robot had to place vertical elements underneath a deformed slab. Finally, the proposed tactile feedback controllers and learned skills are combined together to demonstrate applicability and utility of tactile sensing in collaborative human-robot architectural assembly tasks. Users were able to hand over building elements to the robot or guide the robot through the interaction with building elements. Ultimately this research aims to offer the possibility for anyone to interact with built structures through robotic augmentation.
keywords Interactive Structure; Robotics; Tactile Sensing; Man-Machine Collaboration
series eCAADeSIGraDi
full text file.pdf (6,313,950 bytes)
references Content-type: text/plain
Details Citation Select
100%; open Bard, J, Gannon, M, Jacobson-Weaver, Z, Contreras, M, Jeffers, M and Smith, B (2014) Find in CUMINCAD Seeing Is Doing: Synthetic Tools for Robotically Augmented Fabrication in High-skill Domains , ACADIA 14: Design Agency [Proceedings of the 34th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA)]

100%; open Bohg, J, Morales, A, Asfour, T and Kragic, D (2014) Find in CUMINCAD Data-driven grasp synthesis-A survey , IEEE Transactions on Robotics, 30, pp. 289-309

100%; open Chebotar, Y, Kroemer, O and Peters, J (2014) Find in CUMINCAD Learning robot tactile sensing for object manipulation , IEEE International Conference on Intelligent Robots and Systems

100%; open Cutkosky, MR, Howe, RD and Provancher, WR (2008) Find in CUMINCAD Force and Tactile Sensors , Siciliano, B and Khatib, O (eds), Springer Handbook of Robotics, Springer Berlin Heidelberg, Berlin, Heidelberg

100%; open Gramazio, F and Kohler, M (2008) Find in CUMINCAD Authoring Robotic , Architectural Design, 3(84), pp. 14-22

100%; open Lepora, N, Martinez-Hernandez, U and Prescott, T (2016) Find in CUMINCAD Active Bayesian Perception for Simultaneous Object Localization and Identification , Robotics: Science and Systems

100%; open Menges, A (2015) Find in CUMINCAD The new cyber-physical making in architecture: Computational construction , Architectural Design, 85(5), pp. 28-33

100%; open Ramón, JAC, Medina, FT and Perdereau, V (2013) Find in CUMINCAD Finger readjustment algorithm for object manipulation based on tactile information , International Journal of Advanced Robotic Systems, 10, p. 9

100%; open Schaal, S (2006) Find in CUMINCAD The SL Simulation and Real-Time Control Software Package , Ph.D. Thesis, University of Southern California

100%; open Stumm, S, Braumann, J, Von Hilchen, M and Brell-Cokcan, S (2017) Find in CUMINCAD On-site robotic construction assistance for assembly using A-Priori knowledge and human-robot collaboration , Advances in Intelligent Systems and Computing

100%; open Wibranek, B, Belousov, B, Sadybakasov, A and Tessmann, O (2019) Find in CUMINCAD Man-Machine Collaboration through Building Components for As-Built Digital Models , CAAD Futures proceeding

100%; open Yamaguchi, A and Atkeson, CG (2017) Find in CUMINCAD Implementing tactile behaviors using FingerVision , IEEE-RAS International Conference on Humanoid Robots

last changed 2019/08/26 20:27
pick and add to favorite papersHOMELOGIN (you are user _anon_709682 from group guest) CUMINCAD Papers Powered by SciX Open Publishing Services 1.002