Robotic additive construction of bar structures: unified sequence and motion planning
Abstract Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming complex robots, such as manipulators w...
| Main Authors: | , , , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Springer International Publishing
2021
|
| Online Access: | https://hdl.handle.net/1721.1/136910 |
| _version_ | 1826207624375304192 |
|---|---|
| author | Huang, Yijiang Garrett, Caelan R. Ting, Ian Parascho, Stefana Mueller, Caitlin T. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Huang, Yijiang Garrett, Caelan R. Ting, Ian Parascho, Stefana Mueller, Caitlin T. |
| author_sort | Huang, Yijiang |
| collection | MIT |
| description | Abstract
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming complex robots, such as manipulators with seven degrees of freedom, to successfully complete construction tasks can be tedious, challenging, or impossible for a human to do manually. Namely, the structure must be constructed in a sequence that preserves structural properties, such as stiffness, at each step. At the same time, this sequence must allow for the robot to precisely manipulate elements within the in-progress structure while respecting geometric constraints that, for example, ensure the robot does not collide with what it has built. In this work, we present an automated and newly generalized planning approach for jointly finding a construction sequence and robot motion plan for additive construction that satisfies these requirements. Our approach can be applied in a variety of additive construction processes, and we demonstrate it specifically on spatial extrusion and discrete bar assembly in this paper. We demonstrate the effectiveness of our approach on several simulated and real-world extrusion and assembly tasks, including a human-scale physical prototype, for which our algorithm is deployed for the first time to plan the assembly of a complicated double tangent bar system design. |
| first_indexed | 2024-09-23T13:52:27Z |
| format | Article |
| id | mit-1721.1/136910 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T13:52:27Z |
| publishDate | 2021 |
| publisher | Springer International Publishing |
| record_format | dspace |
| spelling | mit-1721.1/1369102023-02-23T20:30:08Z Robotic additive construction of bar structures: unified sequence and motion planning Huang, Yijiang Garrett, Caelan R. Ting, Ian Parascho, Stefana Mueller, Caitlin T. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Building Technology Program Massachusetts Institute of Technology. Department of Architecture Abstract Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming complex robots, such as manipulators with seven degrees of freedom, to successfully complete construction tasks can be tedious, challenging, or impossible for a human to do manually. Namely, the structure must be constructed in a sequence that preserves structural properties, such as stiffness, at each step. At the same time, this sequence must allow for the robot to precisely manipulate elements within the in-progress structure while respecting geometric constraints that, for example, ensure the robot does not collide with what it has built. In this work, we present an automated and newly generalized planning approach for jointly finding a construction sequence and robot motion plan for additive construction that satisfies these requirements. Our approach can be applied in a variety of additive construction processes, and we demonstrate it specifically on spatial extrusion and discrete bar assembly in this paper. We demonstrate the effectiveness of our approach on several simulated and real-world extrusion and assembly tasks, including a human-scale physical prototype, for which our algorithm is deployed for the first time to plan the assembly of a complicated double tangent bar system design. 2021-11-01T14:34:09Z 2021-11-01T14:34:09Z 2021-07-14 2021-07-29T03:19:20Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/136910 en https://doi.org/10.1007/s41693-021-00062-z Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ The Author(s), under exclusive licence to Springer Nature Switzerland AG application/pdf Springer International Publishing Springer International Publishing |
| spellingShingle | Huang, Yijiang Garrett, Caelan R. Ting, Ian Parascho, Stefana Mueller, Caitlin T. Robotic additive construction of bar structures: unified sequence and motion planning |
| title | Robotic additive construction of bar structures: unified sequence and motion planning |
| title_full | Robotic additive construction of bar structures: unified sequence and motion planning |
| title_fullStr | Robotic additive construction of bar structures: unified sequence and motion planning |
| title_full_unstemmed | Robotic additive construction of bar structures: unified sequence and motion planning |
| title_short | Robotic additive construction of bar structures: unified sequence and motion planning |
| title_sort | robotic additive construction of bar structures unified sequence and motion planning |
| url | https://hdl.handle.net/1721.1/136910 |
| work_keys_str_mv | AT huangyijiang roboticadditiveconstructionofbarstructuresunifiedsequenceandmotionplanning AT garrettcaelanr roboticadditiveconstructionofbarstructuresunifiedsequenceandmotionplanning AT tingian roboticadditiveconstructionofbarstructuresunifiedsequenceandmotionplanning AT paraschostefana roboticadditiveconstructionofbarstructuresunifiedsequenceandmotionplanning AT muellercaitlint roboticadditiveconstructionofbarstructuresunifiedsequenceandmotionplanning |