%0 Generic %1 leder2025robotic %A Leder, Samuel %A Menges, Achim %D 2025 %K %R 10.18419/darus-4758 %T Robotic Plans for the Assembly of A Large-Scale In-Plane Timber Prototype with a Collective Robotic Construction System %X This data set contains the robotic plans for the assembly of a large-scale in-plane timber prototype with a collective robotic construction (CRC) system published in Automation in Construction (Leder, S., Kim, H., Sitti, M., Menges, A.: 2024, Enhanced Co-Design and Evaluation of a Collective Robotic Construction System for the Assembly of Large-Scale In-Plane Timber Structures. Automation in Construction, Vol. 162, 105390. DOI: 10.1016/j.autcon.2024.105390). The assembly was made from a modular CRC system composed of robotic actuators and timber structs, more information on the system can be found in the paper. The prototype was assembled using four robotic actuators composed into two kinematic chains, each connected with a single timber strut. The data set contains 19 robotic plans in JSON file format. Each plan or JSON file correlate to one of the 19 timber struts that were placed into the structure. Each plan contains information on the robotic actuators and timber struts within the scene as JSON Objects. Within each JSON Object, the position and location of part of the CRC system is described with different amounts of keyframes. The keyframes represent moments in the assembly process when at least one robotic actuator in the scene opens or closes its gripper. Timber struts, identified with the key:value pair "frame_name": "s0" as one example, contain information on the position and orientation of the strut. Robotic actuator information is split into four JSON Objects: one for the top body ("frame_name": "b0_0_body_t"), one for the axis of the robot ("frame_name": "b0_0_joint_f"), one for the bottom body ("frame_name": "b0_0_body_b"), and one for rotation ("b0_0_rotation"). The examples key:value pairs are given for Robot0. The first three contain the position and orientation and the state of the gripper in the case of the bottom body. The rotation JSON Objects indicated how much the robotic actuator needs to rotate around its axis to get to that position.The plans were generated using the agent-based model described in a paper in Journal of Computational Design and Engineering (Leder, S., Menges, A.: 2024, Merging Architectural Design and Robotic Planning Using Interactive Agent-based Modelling for Collective Robotic Construction. Journal of Computational Design and Engineering, Vol. 11, No. 2, pp. 253-268. DOI: 10.1093/jcde/qwae028 ).The plans can be used to simulate or execute the assembly process using the digital twin developed for the CRC system as published in another dataset (Leder, S., Kubail Kalousdian, N., Menges, A.: 2025, Digital Twin for a Modular Collective Robotic Construction System, https://doi.org/10.18419/DARUS-4761, DaRUS).

@misc{leder2025robotic, abstract = {This data set contains the robotic plans for the assembly of a large-scale in-plane timber prototype with a collective robotic construction (CRC) system published in Automation in Construction (Leder, S., Kim, H., Sitti, M., Menges, A.: 2024, Enhanced Co-Design and Evaluation of a Collective Robotic Construction System for the Assembly of Large-Scale In-Plane Timber Structures. Automation in Construction, Vol. 162, 105390. DOI: 10.1016/j.autcon.2024.105390). The assembly was made from a modular CRC system composed of robotic actuators and timber structs, more information on the system can be found in the paper. The prototype was assembled using four robotic actuators composed into two kinematic chains, each connected with a single timber strut. The data set contains 19 robotic plans in JSON file format. Each plan or JSON file correlate to one of the 19 timber struts that were placed into the structure. Each plan contains information on the robotic actuators and timber struts within the scene as JSON Objects. Within each JSON Object, the position and location of part of the CRC system is described with different amounts of keyframes. The keyframes represent moments in the assembly process when at least one robotic actuator in the scene opens or closes its gripper. Timber struts, identified with the key:value pair "frame_name": "s0" as one example, contain information on the position and orientation of the strut. Robotic actuator information is split into four JSON Objects: one for the top body ("frame_name": "b0_0_body_t"), one for the axis of the robot ("frame_name": "b0_0_joint_f"), one for the bottom body ("frame_name": "b0_0_body_b"), and one for rotation ("b0_0_rotation"). The examples key:value pairs are given for Robot0. The first three contain the position and orientation and the state of the gripper in the case of the bottom body. The rotation JSON Objects indicated how much the robotic actuator needs to rotate around its axis to get to that position.The plans were generated using the agent-based model described in a paper in Journal of Computational Design and Engineering (Leder, S., Menges, A.: 2024, Merging Architectural Design and Robotic Planning Using Interactive Agent-based Modelling for Collective Robotic Construction. Journal of Computational Design and Engineering, Vol. 11, No. 2, pp. 253-268. DOI: 10.1093/jcde/qwae028 ).The plans can be used to simulate or execute the assembly process using the digital twin developed for the CRC system as published in another dataset (Leder, S., Kubail Kalousdian, N., Menges, A.: 2025, Digital Twin for a Modular Collective Robotic Construction System, https://doi.org/10.18419/DARUS-4761, DaRUS). }, added-at = {2025-06-03T13:26:50.000+0200}, affiliation = {Leder, Samuel/University of Stuttgart, Menges, Achim/University of Stuttgart}, author = {Leder, Samuel and Menges, Achim}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/295874d05bd8f34552ef82ce47854aa25/unibiblio}, doi = {10.18419/darus-4758}, howpublished = {Dataset}, interhash = {4a09f2c0e5afa3631a54dd5c6c0c3334}, intrahash = {95874d05bd8f34552ef82ce47854aa25}, keywords = {}, note = {Related to: Leder, S., Kim, H., Sitti, M., Menges, A.: 2024, Enhanced co-design and evaluation of a collective robotic construction system for the assembly of large-scale in-plane timber structures. Automation in Construction, Vol. 162, 105390. doi: 10.1016/j.autcon.2024.105390}, orcid-numbers = {Leder, Samuel/https://orcid.org/0000-0003-3533-3633, Menges, Achim/https://orcid.org/0000-0001-9055-4039}, timestamp = {2025-06-03T11:26:50.000+0200}, title = {Robotic Plans for the Assembly of A Large-Scale In-Plane Timber Prototype with a Collective Robotic Construction System}, year = 2025 }