%0 Generic %1 leder2025digital %A Leder, Samuel %A Kubail Kalousdian, Nicolas %A Menges, Achim %D 2025 %K %R 10.18419/darus-4761 %T Digital Twin for a Modular Collective Robotic Construction System %X This dataset contains the digital twin developed for a Collective Robotic Construction (CRC) system, as published in Advanced Science (Leder, S., Kim, H., Oguz, O.S., Kalousdian, N.K., Hartmann, V.N., Menges, A., Toussaint, M., Sitti, M.: 2022, Leveraging Building Material as Part of the In-Plane Robotic Kinematic System for Collective Construction. Advanced Science, 2201524. DOI: 10.1002/advs.202201524). In this version, the digital twin allows robotic plans in .JSON format to be loaded (Load Plan), and either simulated without the physical CRC system or executed in real time. In both modes, plans can be played through continuously or stepped through action by action. During simulation, users can control the playback speed (Speed), allowing the simulation to run faster than real-world robot operation.In real-time execution mode (Actuate Real Motors), communication with the robots occurs via serial communication over Bluetooth. The construction process is monitored using an external motion capture system. Implementations for both Vicon and OptiTrack are included in the digital twin. Data captured from the motion tracking system can be used for position correction (Position Correction) at each step of the robotic plan, if desired.Additionally, the robots in the CRC system can be manually controlled. Within the interface, users can rotate the main axis of each robot, open and close the top and bottom grippers, and control the tongue within the gripper. These controls are available for each deployed robot and are accompanied by visualizations of both the real-time robot positions and their expected positions based on the robotic plans.The digital twin relies on external code based for some functionalities. Included in the dataset is a therefore README, which provides setup instructions, dependency guidelines, and licensing information.

@misc{leder2025digital, abstract = {This dataset contains the digital twin developed for a Collective Robotic Construction (CRC) system, as published in Advanced Science (Leder, S., Kim, H., Oguz, O.S., Kalousdian, N.K., Hartmann, V.N., Menges, A., Toussaint, M., Sitti, M.: 2022, Leveraging Building Material as Part of the In-Plane Robotic Kinematic System for Collective Construction. Advanced Science, 2201524. DOI: 10.1002/advs.202201524). In this version, the digital twin allows robotic plans in .JSON format to be loaded (Load Plan), and either simulated without the physical CRC system or executed in real time. In both modes, plans can be played through continuously or stepped through action by action. During simulation, users can control the playback speed (Speed), allowing the simulation to run faster than real-world robot operation.In real-time execution mode (Actuate Real Motors), communication with the robots occurs via serial communication over Bluetooth. The construction process is monitored using an external motion capture system. Implementations for both Vicon and OptiTrack are included in the digital twin. Data captured from the motion tracking system can be used for position correction (Position Correction) at each step of the robotic plan, if desired.Additionally, the robots in the CRC system can be manually controlled. Within the interface, users can rotate the main axis of each robot, open and close the top and bottom grippers, and control the tongue within the gripper. These controls are available for each deployed robot and are accompanied by visualizations of both the real-time robot positions and their expected positions based on the robotic plans.The digital twin relies on external code based for some functionalities. Included in the dataset is a therefore README, which provides setup instructions, dependency guidelines, and licensing information. }, added-at = {2025-06-10T09:27:45.000+0200}, affiliation = {Leder, Samuel/University of Stuttgart, Kubail Kalousdian, Nicolas/University of Stuttgart, Menges, Achim/University of Stuttgart}, author = {Leder, Samuel and Kubail Kalousdian, Nicolas and Menges, Achim}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/26e3a11b8b0a231b8276fcec555ffd356/unibiblio}, doi = {10.18419/darus-4761}, howpublished = {Software}, interhash = {2cd5b492434f91e03af4f37193bcf1c7}, intrahash = {6e3a11b8b0a231b8276fcec555ffd356}, keywords = {}, note = {Related to: Leder, S., Kim, H., Oguz, O.S., Kalousdian, N.K., Hartmann, V.N., Menges, A., Toussaint, M., Sitti, M.: 2022, Leveraging Building Material as Part of the In-Plane Robotic Kinematic System for Collective Construction. Advanced Science, 2201524. doi: 10.1002/advs.202201524}, orcid-numbers = {Leder, Samuel/https://orcid.org/0000-0003-3533-3633, Kubail Kalousdian, Nicolas/https://orcid.org/0000-0002-3613-1016, Menges, Achim/https://orcid.org/0000-0001-9055-4039}, timestamp = {2025-06-10T07:27:45.000+0200}, title = {Digital Twin for a Modular Collective Robotic Construction System}, year = 2025 }