%0 Conference Paper %1 Vasey2016 %A Vasey, Lauren %A Nguyen, Long %A Grossman, T. %A Kerrick, H. %A Nagy, D. %A Athertion, E. %A Thomasson, D. %A Cote, N. %A Schwinn, Tobias %A Benjamin, D. %A Cont, M. %A Fitzmaurice, G. %A Achim, Menges %B ACADIA 2016: Posthuman Frontiers: Data, Designers, and Cognitive Machines - Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture %C Ann Arbor %D 2016 %K icd myown %P 184-195 %T Collaborative construction %X In this paper, we describe an interdisciplinary project and live-exhibit that investgated whether untrained humans and robots could work together collaboratively towards the common goal of building a large-scale structure composed out of robotcally fabricated modules using a filament winding process. We describe the fabrication system and exhibition setup, including a custom end effector and tension control mechanism, as well as a collaborative fabrication process in which instructions delivered via wearable devices enable the trade-off of production and assembly tasks between human and robot. We describe the necessary robotc developments that facilitated a live fabrication process, including a generic robot inverse kinematc solver engine for non-spherical wrist robots, and wireless network communication connecting hardware and software. In addition, we discuss computational strategies for the fiber syntax generation and robotc motion planning which mitgated constraints such as reachability, axis limitations, and collisions, and ensured predictable and therefore safe motion in a live exhibition seting. We discuss the larger implications of this project as a case study for handling deviations due to non-standardized materials or human error, as well as a means to reconsider the fundamental separation of human and robotc tasks in a production workflow. Most significantly, the project exemplifies a hybrid domain of human and robot collaboration in which coordination and communication between robots, people, and devices can enhance the integration of robotc processes and computational control into the characteristc processes of construction. %@ 9780692770955

@inproceedings{Vasey2016, abstract = {In this paper, we describe an interdisciplinary project and live-exhibit that investgated whether untrained humans and robots could work together collaboratively towards the common goal of building a large-scale structure composed out of robotcally fabricated modules using a filament winding process. We describe the fabrication system and exhibition setup, including a custom end effector and tension control mechanism, as well as a collaborative fabrication process in which instructions delivered via wearable devices enable the trade-off of production and assembly tasks between human and robot. We describe the necessary robotc developments that facilitated a live fabrication process, including a generic robot inverse kinematc solver engine for non-spherical wrist robots, and wireless network communication connecting hardware and software. In addition, we discuss computational strategies for the fiber syntax generation and robotc motion planning which mitgated constraints such as reachability, axis limitations, and collisions, and ensured predictable and therefore safe motion in a live exhibition seting. We discuss the larger implications of this project as a case study for handling deviations due to non-standardized materials or human error, as well as a means to reconsider the fundamental separation of human and robotc tasks in a production workflow. Most significantly, the project exemplifies a hybrid domain of human and robot collaboration in which coordination and communication between robots, people, and devices can enhance the integration of robotc processes and computational control into the characteristc processes of construction.}, added-at = {2018-09-04T16:26:01.000+0200}, address = {Ann Arbor}, author = {Vasey, Lauren and Nguyen, Long and Grossman, T. and Kerrick, H. and Nagy, D. and Athertion, E. and Thomasson, D. and Cote, N. and Schwinn, Tobias and Benjamin, D. and Cont, M. and Fitzmaurice, G. and Achim, Menges}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/2ba8948ec6190001dc35855e763ffff28/tobiasschwinn}, booktitle = {ACADIA 2016: Posthuman Frontiers: Data, Designers, and Cognitive Machines - Proceedings of the 36th Annual Conference of the Association for Computer Aided Design in Architecture}, interhash = {308284e9ee36415a5913163a29ab04f3}, intrahash = {ba8948ec6190001dc35855e763ffff28}, isbn = {9780692770955}, keywords = {icd myown}, pages = {184-195}, timestamp = {2018-09-04T14:55:53.000+0200}, title = {{Collaborative construction}}, year = 2016 }