Human–robot collaboration: a fabrication framework for the sequential design and construction of unplanned spatial structures

Edvard P.G. Bruun, Ian Ting, Sigrid Adriaenssens, Stefana Parascho

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

Robots in traditional fabrication applications act as passive participants in the process of creation—simply performing a set of predetermined actions to materialize a completed design. We propose a novel bottom-up design framework in which robots are instead given the opportunity to participate centrally within a creative design process. This paper describes how two 6-axis industrial robotic arms were used to cooperatively aggregate a collection of solid spherical units. The branching spatial structure being constructed is unplanned at the outset of this process, and is instead designed in pseudo-realtime during construction. This ‘design-as-you-build’ approach relies on robotic input, in the form of path-planning constraints, in tandem with human evaluation and decision-making. The resulting structure emerges from a human–robot design collaboration operating within the specified physical domain.

Original languageEnglish (US)
Pages (from-to)320-336
Number of pages17
JournalDigital Creativity
Volume31
Issue number4
DOIs
StatePublished - 2020

All Science Journal Classification (ASJC) codes

  • Arts and Humanities (miscellaneous)
  • Human-Computer Interaction
  • Computer Graphics and Computer-Aided Design
  • Computational Theory and Mathematics

Keywords

  • Cooperative assembly
  • human–robot collaboration
  • robotic fabrication
  • sequential design
  • spatial structures

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