Abstract
The paper presents a craft-oriented middleware for assisting in situ robotic fabrication. This middleware addresses the need for sensor-based feedback in robotic fabrication involving uncertain materials, non-structured environments, or post-production surfaces. The presented middleware addresses these fabrication challenges by allowing the robot to react to its environment without the need for a predetermined program. The middleware and its components are presented, followed by experiments demonstrating in situ capacities. The first experiment demonstrates autonomous carving—performing an iterative, non-prescribed robotic fabrication process. The second experiment presents integrated fabrication—a sequence of subtractive and additive techniques performed on a non-even substrate. Together, these experiments contribute to the implementation of sensible robotic middleware in architecture and assist in restoring the lost link between workmanship and construction sites.
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Acknowledgements
The authors would like to thank the Technion IIT and the Azrieli Foundation for supporting this research; Yotam Carmel of Arco Preservation and Restoration; and A. Grebelsky & Son stone manufacturers for sharing their expertise. This research was conducted at the Material Topology Research Lab (MTRL), Technion IIT.
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Shaked, T., Bar-Sinai, K.L. & Sprecher, A. Craft to site. Constr Robot 4, 141–150 (2020). https://doi.org/10.1007/s41693-020-00044-7
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DOI: https://doi.org/10.1007/s41693-020-00044-7