Human-Robot Collaboration: A Fabrication Framework For The Sequential Design And Construction Of Unplanned Spatial Structures
DIGITAL CREATIVITY(2020)
摘要
Robots in traditional fabrication applications act as passive participants in the process of creation-simply performing a set of predetermined actions to materialize a completed design. We propose a novel bottom-up design framework in which robots are instead given the opportunity to participate centrally within a creative design process. This paper describes how two 6-axis industrial robotic arms were used to cooperatively aggregate a collection of solid spherical units. The branching spatial structure being constructed is unplanned at the outset of this process, and is instead designed in pseudo-realtime during construction. This 'design-as-you-build' approach relies on robotic input, in the form of path-planning constraints, in tandem with human evaluation and decision-making. The resulting structure emerges from a human-robot design collaboration operating within the specified physical domain.
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关键词
Cooperative assembly, robotic fabrication, human–, robot collaboration, spatial structures, sequential design
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