| id |
ecaade2024_420 |
| authors |
Sardari, Sarvenaz; Sevim, Selin; Zhang, Pengfei; Ron, Gili; Leder, Samuel; Menges, Achim; Wortmann, Thomas |
| year |
2024 |
| title |
Deep Agency: Towards human guided robotic training for assembly tasks in timber construction |
| source |
Kontovourkis, O, Phocas, MC and Wurzer, G (eds.), Data-Driven Intelligence - Proceedings of the 42nd Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2024), Nicosia, 11-13 September 2024, Volume 1, pp. 193–202 |
| doi |
https://doi.org/10.52842/conf.ecaade.2024.1.193
|
| summary |
Automating robotic assembly in architectural construction is challenging due to material uncertainties and the buildup of tolerance experienced in assembling many parts. Implementing AI technologies, including various machine learning algorithms in robotic assembly, has demonstrated significant potential for robots to respond to this uncertainty. This research builds upon previous implementations of singular algorithms by combining haptic teaching with deep reinforcement learning (DRL) in a single workflow to improve robot autonomy in responding to uncertainties in timber assembly. Haptic teaching bridges the gap between simulation and reality inherent to DRL, while DRL improves the generalizability of haptic teaching and speeds up the agents’ learning process. The developed workflow is tested through various lap joint assembly experiments. The effectiveness of this combined approach is assessed through various experiments that refine and evaluate the methodology, providing valuable insights into enhancing robot capabilities to manage material uncertainties and deviations. Additionally, this research considers the evolving role of human workers in collaborative construction environments with robots. |
| keywords |
Robotic assembly, Artificial intelligence, Deep reinforcement learning, Haptic teaching, Timber joint assembly |
| series |
eCAADe |
| email |
sarvenaz.31@gmail.com |
| full text |
 file.pdf (774,554 bytes) |
| references |
Content-type: text/plain
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| last changed |
2024/11/17 22:05 |
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