The new analog: A protocol for linking design and construction intent with algorithmic planning for robotic assembly of complex structures

摘要

Construction robotics are increasingly popular in the architectural fabrication community due to their accuracy and flexibility. Because of their high degree of motion freedom, these tools are able to assemble complex structures with irregular designs, which advances architectural aesthetics and structural performance. However, automated task and motion planning (TAMP) for a robot to assemble non-repetitive objects can be challenging due to (1) a non-repetitive assembly pattern (2) the need for a continuous robotic motion throughout a sequence of movement (3) a congested construction scene and (4) occasional robot configuration constraints due to taught positions. Recent work has already begun to address these challenges for repetitive assembly processes, where the robot repeats a pattern of primitive behaviors (e.g. brick stacking or spatial extrusion). Yet, there are many assembly processes that can benefit from a non-repetitive pattern. For example, processes can change tools on an element-by-element level to accommodate a wider range of geometry.