Autonomous dry stone
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ORIGINAL PAPER
Autonomous dry stone On-site planning and assembly of stone walls with a robotic excavator Ryan Luke Johns1 · Martin Wermelinger2 · Ruben Mascaro3 · Dominic Jud2 · Fabio Gramazio1 · Matthias Kohler1 · Margarita Chli3 · Marco Hutter2 Received: 15 June 2020 / Accepted: 9 September 2020 © The Author(s) 2020
Abstract On-site robotic construction not only has the potential to enable architectural assemblies that exceed the size and complexity practical with laboratory-based prefabrication methods, but also offers the opportunity to leverage context-specific, locally sourced materials that are inexpensive, abundant, and low in embodied energy. We introduce a process for constructing dry stone walls in situ, facilitated by a customized autonomous hydraulic excavator. Cabin-mounted LiDAR sensors provide for terrain mapping, stone localization and digitization, and a planning algorithm determines the placement position of each stone. As the properties of the materials are unknown at the beginning of construction, and because error propagation can hinder the efficacy of pre-planned assemblies with non-uniform components, the structure is planned on-the-fly: the desired position of each stone is computed immediately before it is placed, and any settling or unexpected deviations are accounted for. We present the first result of this geometric- and motion-planning process: a 3-m-tall wall composed of 40 stones with an average weight of 760 kg. Keywords On site robotics · Dry stone walls · Adaptive assembly
1 Introduction * Ryan Luke Johns [email protected] * Martin Wermelinger [email protected] Ruben Mascaro [email protected] Dominic Jud [email protected] Fabio Gramazio [email protected] Matthias Kohler [email protected] Margarita Chli [email protected] Marco Hutter [email protected] 1
Gramazio Kohler Research, ETH Zurich, Zurich, Switzerland
2
Robotic Systems Lab, ETH Zurich, Zurich, Switzerland
3
Vision for Robotics Lab, ETH Zurich, Zurich, Switzerland
Computational planning and fabrication tools have the potential to greatly increase the sustainability of architectural construction, allowing for the use of abundantly available natural and reclaimed materials that are currently too complex or time-intensive for cost-effective widespread application. As compared to many common building materials, minimally processed rock and locally recycled demolition debris have extremely low embodied energy (Morel et al. 2001; Alcorn 2003), but also have the potential to express site-specific materiality, revive regional vernacular building methods, and exhibit new forms of “cultural performance” (Oesterle 2009). This chapter presents an integrated system for constructing double-faced dry stone walls in situ using a customized autonomous mobile hydraulic excavator. We outline a process for mapping the environment, and localizing and digitizing irregular stones. Using this digitized information, we algorithmically determine the position and orientation of stones to align with a des
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