SPOOL

Human-Robot Interaction for Carbon-free Architecture

Henriette Bier — 2024-07-20

The Spool CpA #6 issue on Human-Robot Interaction for Carbon-free Architecture reviews current tendencies in autonomous construction and human-robotic interaction in architecture. It aims at affirming and/or challenging research agendas in the domain of architectural robots and attempts to answer questions about (i) the fundamental framing of post-carbon autonomous construction, (ii) the interdependencies between machines, humans, and materials, and (iii) the different imple-mentation timeframes ranging from continuous transformation to leapfrogging.

An interactive simulation of control and coordination strategies for swarms of autonomous construction robots

Jordan H Boyle — 2024-07-20

There is an established idea – found in science fiction, architectural studios, and scientific papers alike – of stainable buildings crafted from bio-based materials, colonized by plant and animal life, and blending seamlessly into the natural surroundings. Such buildings might one day be built, maintained and remodelled by swarms of autonomous robots, allowing them to evolve in response to the changing needs of their inhabitants. Inspired by that vision, this paper contributes to the field of swarm intelligence with a focus on robotic construction and human-swarm interaction. Along with a short literature review on robotic building, swarm intelligence and biocompatible building materials, the paper presents an open-source simulation of abstracted termite-like swarm construction. The focus is mainly on human-swarm interaction, specifically how to influence the emergent behaviour of an autonomous swarm in order to elicit a desired outcome while retaining the robustness and adaptability of a self-organized system. The simulator is used to demonstrate a set of four autonomous swarm behaviours that are representative of construction tasks.

The migrating walls

Victor Sardenberg — 2024-07-20

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.

Therblig to Robot

Dagmar Reinhardt — 2024-07-01

Industrial robotic arms commonly require specialist knowledge for machine functions. Specifically, training cobots for work sequences is time consuming and complex when task complexity increases, such as through differentiation in tool adaptations or work processes. This research explores robot versatility for a context of domestic environments (such as a kitchen/workshop), where work processes are approached as a hybrid scenario, with setup for integration of a tool variety whereby human-robot teams collaborate. The paper discusses a) novel workflows based on a palette of work tools adopted for robot tooling to translate manual human tasks to human-robot tasks; b) an initial script series for work processes that represents modelling, planning, simulation, and implementation; c) a framework for task division through action sets based on Therbligs that supports users; and d) an empirical evaluation of the approach through a series of user studies. In a post-carbon context, previously autonomous robots are required to become more versatile in terms of productivity, scalability, safety and skill criteria and environmental impact. This research extends beyond traditional kitchens to include workshop and fabrication scenarios characterised by the complexity and variability of task applications, guided by detailed action packages that explore robotic work for modular components or fluid and liquid materials; heat and assembly-based processing; and bridges from food preparation to fabrication and manufacturing tasks.

Advancing Sustainable Approaches in Architecture by Means of Design-to-Robotic-Production

Henriette Bier — 2024-07-20

The construction sector accounts for about 40% of material-, energy- and process-related carbon dioxide (CO2) emissions , which can be reduced by introducing data-driven Circular Economy (CE) approaches . For instance, Design-to-Robotic-Production (D2RP) methods developed in the Robotic building lab, at Technical University (TU) Delft are embedding data-driven systems into building processes. Their potential to contribute to sustainability through increased material-, process-, and energy-efficiency has been explored in several case studies that are presented in this paper. The assumption is that by using these methods and reclaimed wood to minimize demand for new resources and reduce deforestation along the way, CO2 emissions can be considerably reduced.

In-Situ vs. Prefab 3D Printing Considerations for CO2-free Pop-up Architecture

Atousa Aslaminezhad — 2024-07-20

This paper revisits existing pop-up typologies in architecture to identify opportunities for new shelter models to address current housing demands and future habitation requirements on Mars. It presents advancements in design to production methodologies based on computational and robotic techniques to meet current requirements and affordances while integrating sustainable and adaptive functionalities. The main goal is to advance pop-up architecture by developing methods and technologies for rapidly deployable on- and off-Earth habitats while addressing challenges of carbon-free architecture by means of 3D printing. By reviewing state-of-the-art in-situ vs. prefab 3D printing approaches with a particular focus on Human-Robot Interaction (HRI) supported Design-to-Robotic-Production-Assembly and -Operation (D2RPA&O) methods developed at TU Delft material, process, and energy efficiency using locally sourced materials is achieved.

Dialogues on Architecture #6

Henriette Bier — 2024-07-20

Dialogues on Architecture, published in various issues of Spool CpA, is a series of dialogues between researchers and practitioners, who are embracing the intellectual model of high technology and are involved in its advancement and application in architecture. Dialog #6 presents discussions risen during an online symposium on challenges of the Architecture, Engineering and Construction (AEC) industry, which is facing a threefold challenge involving the (i) digital transformation of all design and planning processes, (ii) automation of construction processes, and (iii) reconsideration of energy, process, and material use.

These challenges involve issues with respect to productivity, scalability, safety, labour skill shift, and environmental impact. Acknowledging that there is a particular urgency in transferring effective solutions from research to building practice to meet significant carbon reduction goals by 2040, the one-day symposium organized as an online event in 2022 , Human-Robot Interaction for Post-Carbon Architecture (HRI4PCA), was an opportunity to make an inventory of current tendencies in autonomous construction and human-robotic interaction in architecture. It aims at affirming and/or challenging research agendas in the domain of architectural robots.