TY - GEN
T1 - Accurate and Adaptive in Situ Fabrication of an Undulated Wall Using an on-Board Visual Sensing System
AU - Lussi, Manuel
AU - Sandy, Timothy
AU - Dorfler, Kathrin
AU - Hack, Norman
AU - Gramazio, Fabio
AU - Kohler, Matthias
AU - Buchli, Jonas
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - In this paper we present a system for the in situ3 3In the context of building construction, 'in situ' means that fabrication takes place at the structure's final location directly on the building site. fabrication of a full-scale, load-bearing, and doubly-curved steel reinforced concrete wall. Two complementary vision-based sensing systems provide the feedback necessary to build a 12 meter long steel wire mesh as part of a novel digital building process. The sensing systems provide estimates of the robot pose, referenced to the CAD model of the building site, as well as feedback on the accuracy of the built structure over the course of construction. This second piece of information is used to adapt the building plan to compensate for system inaccuracies and material deformations which occur during buildup. In this way, the structure was successfully built with 98% of the total geometry within 2 centimeters of the designed position. To the best of our knowledge, this is the largest structure which has been built by a mobile robot using solely vision-based sensing.
AB - In this paper we present a system for the in situ3 3In the context of building construction, 'in situ' means that fabrication takes place at the structure's final location directly on the building site. fabrication of a full-scale, load-bearing, and doubly-curved steel reinforced concrete wall. Two complementary vision-based sensing systems provide the feedback necessary to build a 12 meter long steel wire mesh as part of a novel digital building process. The sensing systems provide estimates of the robot pose, referenced to the CAD model of the building site, as well as feedback on the accuracy of the built structure over the course of construction. This second piece of information is used to adapt the building plan to compensate for system inaccuracies and material deformations which occur during buildup. In this way, the structure was successfully built with 98% of the total geometry within 2 centimeters of the designed position. To the best of our knowledge, this is the largest structure which has been built by a mobile robot using solely vision-based sensing.
UR - http://www.scopus.com/inward/record.url?scp=85063163457&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8460480
DO - 10.1109/ICRA.2018.8460480
M3 - Conference contribution
AN - SCOPUS:85063163457
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3532
EP - 3539
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -