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The migrating walls

Continuously reconfigurable interlocking modular discrete structures assembled by mobile robots

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localization, interlocking parts, mobile robots, mobile platforms, discrete architecture, autonomous construction, computer vision, collective robotic construction

Abstract

This paper presents a comparison of different workflows for mobile robotic fabrication using modular building blocks. Different localization, locomotion, and interlocking building systems strategies are tested and compared. The work is influenced by related research into ecosystems of building parts, design software, and builder robots to digitize the construction work. For localization, it compares LIDARs, reacTIVision, and ArUco markers. As a mobile platform, a MIR100 robot platform, a 3.3 m linear axis, and a manual trolly are used. Interlocking components such as wood slates, custom-made bricks, and interlocking wood building blocks are used. The research is in the field of collective robotic construction (CRC) using bespoke robots designed in tandem with specific discrete building blocks.

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Sardenberg, V., Kondziela, A., Brünner, A., Daadoush, Y., Wiese, H., & Becker, M. (2024). The migrating walls: Continuously reconfigurable interlocking modular discrete structures assembled by mobile robots. SPOOL, 11(1), 23–48. Retrieved from https://spool.ac/index.php/spool/article/view/253

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2024-07-20

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Vol. 11 No. 1: Cyber-physical Architecture #6

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This work is licensed under a Creative Commons Attribution 4.0 International License.

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References

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