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Operation of the Collaborative Composite Manufacturing CCM System

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Leveraging Building Material as Part of the In-Plane Robotic Kinematic System for Collective Construction.

Samuel Leder^1,2, HyunGyu Kim^1,3, Ozgur Salih Oguz^1,4,5

¹Cluster of Excellence IntCDC: Integrative Computational Design and Construction for Architecture, University of Stuttgart and Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany.

Advanced Science (Weinheim, Baden-Wurttemberg, Germany)

|June 27, 2022

Summary

This study introduces a modular collective robotic construction system using timber struts for building assembly and robot locomotion. The system demonstrates locomotion, dynamic reconfiguration, and collaborative material transport for future autonomous construction.

Keywords:

architecture co-design strategy collective construction construction robotics task and motion planning

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Area of Science:

Robotics
Architecture
Computer Science

Background:

Current multi-robot systems for construction often use non-structural or custom materials.
There is a need for more flexible and modular robotic construction solutions.

Purpose of the Study:

To present a modular collective robotic construction system.
To leverage timber struts for both structural assembly and robot locomotion.
To co-design the system integrating architectural, robotic, and computer science constraints.

Main Methods:

Developed a modular collective robotic system with robotic actuators and timber struts.
Co-designed the system workflow across architectural, robotic, and computer science domains.
Tested the system through five physical scenarios demonstrating key construction tasks.

Main Results:

The system successfully demonstrated locomotion capabilities.
The system showed the ability to dynamically change its topology.
Collaborative transport of timber struts was achieved.

Conclusions:

The presented system lays the groundwork for future autonomous collective robotic construction.
The modularity of the system enhances the flexibility of on-site construction robots.
This approach integrates diverse constraints for a unified construction workflow.