B 05

Principles of Mobile Robotics for Additive Manufacturing in Construction

Prof. Dr. sc. ETH Zurich Kathrin Dörfler, Project leader

Dipl. Ing. Julia Fleckenstein
M. Sc. Gido Dielemans

Summary of B 05

This research examines the architectural implications of mobile robotics for AM in construction and develops methods for their implementation. The material deposition method of concrete extrusion is used to investigate mobile part-based AM strategies to produce large objects whose size exceeds the static workspace of the robot. By implementing advanced sensor and control solutions, autonomous localization and precise manipulation techniques for mobile AM are explored. In addition, this research aims to provide scalability to AM processes by examining the use of cooperative robots to collaborate on single fabrication jobs. The ultimate aim of this research is to develop mobile AM technology for its direct implementation on construction sites.

Prof. Dr. sc. ETH Zurich Kathrin Dörfler

leads the scientific staff in the conception and execution of the research, and in questions of validation of the proposed methods. She is also responsible for the coordination of the cooperating research projects in the TRR 277.

doerfler(at)tum.de

M.Sc. Gido Dielemans

is a doctoral researcher at the TT Professorship for Digital Fabrication within TUM. With background in structural design and engineering, he will develop strategies for using mobile robotic systems performing extrusion-based AM on construction sites. Fundamentally, this work is interdisciplinary, and he therefore strives for a high degree of collaboration within, but not limited to, the TRR277.

gido.dielemans(at)tum.de

2019 | Dörfler, Kathrin, N. Hack, T. Sandy, M. Giftthaler, M. Lussi, J. Buchli, F. Gramazio, M. Kohler, “Mobile robotic fabrication beyond factory conditions: Case study Mesh Mould wall of the DFAB HOUSE” Construction Robotics Springer Journals (accepted),.

2018 | Buchli, Jonas, M. Lussi, M. Giftthaler, K. Dörfler, T. Sandy, N. Hack, and N. Kumar. “Digital in situ fabrication—Challenges and opportunities for robotic in situ fabrication in architecture, construction, and beyond.” In: Cement and Concrete Research. Elsevier. Amsterdam.

2018 | Lussi, Manuel, T. Sandy, K. Dörfler, N. Hack, F. Gramazio, M. Kohler, and J. Buchli. “Accurate and Adaptive In situ Fabrication of an Undulated Wall using an On-Board Visual Sensing System.” In: Proceedings - IEEE International Conference on Robotics and Automation (ICRA 2018).

2017 | Giftthaler, Markus, Sandy, T., Dörfler, K., Brooks, I., Buckingham, M., Rey, G., Kohler, M., Gramazio, F., Buchli, J.: Mobile Robotic Fabrication at 1:1 scale: the In situ Fabricator. In: Construction Robotics 1(1-4), 3{14. DOI 10.1007/s41693- 017-0003-5.

2017 | Hack, Norman, Wangler, T., Mata-Falcon, J., Dörfler, K., Kumar, N., Walzer, A.N., Graser, K., Reiter, L., Richner, H., Buchli, J., Kaufmann, W., Flatt, R.J., Gramazio, F., Kohler, M.: "Mesh Mould: An On Site, Robotically Fabricated, Functional Formwork." In: Proceedings of the Second Concrete Innovation Conference (2nd CIC).

2016 | Dörfler, Kathrin, T. Sandy, M. Giftthaler, F. Gramazio, M. Kohler, J. Buchli “Mobile Robotic Brickwork: Automation of a Discrete Robotic Fabrication Process Using an Autonomous Mobile Robot.” Robotic Fabrication in Architecture, Art and Design, Sydney.

2012 | K. Dörfler, F. Rist, R. Rust “Interlacing - An Experimental Approach of Integrating Digital and Physical Design Methods.” Robotic Fabrication in Architecture, Art and Design, Vienna.