Robotic Fabrication in Architecture, Art and Design 2018 : Foreword by Sigrid Brell-Çokcan and Johannes Braumann, Association for Robots in Architecture

"The book presents research from Rob-Arch 2018, the fourth international conference on robotic fabrication in architecture, art, and design. In capturing the myriad of scientific advances in robotics fabrication that are currently underway - such as collaborative design tools, computerised materials, adaptive sensing and actuation, advanced construction, on-site and cooperative robotics, machine-learning, human-machine interaction, large-scale fabrication and networked workflows, to name but a few - this compendium reveals how robotic fabrication is becoming a driver of scientific innovation, cross-disciplinary fertilization and creative capacity of an unprecedented kind." -- prové de l'editor Foreword by the Association for Robots in Architecture 5 Preface 8 New Scientific Frontiers 8 Closing the Loop 9 Content and Contributions 9 Workshop Activities 11 Beyond Boundaries 11 Acknowledgments 12 Paper Committee 14 Contents 17 Design and Simulation 21 Image Classification for Robotic Plastering with Convolutional Neural Network 23 Abstract 23 1 Motivation 23 2 Methodology 24 2.1 Apparatus Setup 25 2.2 Data Set 25 2.3 Image Classification Methods 27 3 Training Results 29 3.1 Transfer Learning 29 3.2 Our Model 29 3.3 Method Comparison 30 4 Testing Implementations Scenarios 30 4.1 Image Surveying Methods 30 4.2 User Interface/Interaction 32 5 Conclusions and Next Steps 33 References 33 Designing Natural Wood Log Structures with Stochastic Assembly and Deep Learning 36 Abstract 36 1 Introduction 36 2 Related Works 37 3 Method - Part I: Stochastic Assembly 38 3.1 Design Modeling 38 3.2 End-Effectors, Scanning and Reconstruction 39 3.3 Stochastic Assembly 40 4 Method – Part II: Position Suggestion with Convolutional Neural Networks (CNNs) 42 4.1 Data Collections 43 4.2 Position Suggestion with Regression Model 44 4.3 Position Suggestion with Classification Model 45 5 Experiment: Generative Design Using Robotic Assembly 45 5.1 Combining the Classification Model and Evolutionary Computing 45 5.2 Controlling Robotic Assembly with the Regression Model 46 6 Conclusion 47 Acknowledgements 48 References 48 Mockup Method: Heuristic Architectural Fragments as Central Models in Architectural Design 51 Abstract 51 1 Introduction 51 2 Related Work 52 3 Digital Collaboration 52 4 Architectural Fragments as Central Models 52 5 Case Study: The Design-Fabrication of Insulated Concrete Tilt-Up Walls 54 5.1 Structural Loading 54 5.2 Casting Concrete - Center of Mass/Tilt up Operations 56 5.3 Thermal Performance 57 6 Standards 59 7 Holistic Design 60 8 Discussion 61 Acknowledgements 62 References 62 Haptic Programming 64 Abstract 64 1 Introduction 64 2 Design to Construction 66 3 Haptic Interaction Primitives 69 4 Adaptation for Future Task Execution 72 5 Synopsis and Future Work 75 References 76 Towards Automatic Path Planning for Robotically Assembled Spatial Structures 79 Abstract 79 1 Introduction 79 2 Path Planning Software Interface and Integration of Collision-Free Robot Path Generation into Computational Design 81 3 Experiment 1: Post-rationalization of Spatial Metal Structures Using Sequential Robot Path Search 83 4 Experiment 2: Post-rationalization of Spatial Timber Frame Structures Using Parallel Path Search 85 5 Experiment 3: Fabrication-Aware Design of Spatial Structures 87 6 Conclusion 90 Acknowledgements 90 References 91 Communication Landscapes 94 Abstract 94 1 Introduction 94 1.1 Aim 94 1.2 Natural Interfaces for Fabrication 95 1.3 Robotic Hotwire Cutting 96 2 Methodology 96 2.1 Installation Set-Up 96 2.2 Voice-Controlled Modelling 97 2.3 Custom User Interface (CUI) 98 2.4 Real-Time Data Broadcasting 98 3 Robotic Hotwire Cutting 99 4 Panel Clustering and Installation Assembly 100 5 Results 101 6 Conclusion and Outlook 101 References 102 Towards Visual Feedback Loops for Robot-Controlled Additive Manufacturing 105 Abstract 105 1 Introduction 106 2 Methodology 107 2.1 Robot Eye-to-Extruder Calibration 107 2.2 Deposited Material Segmentation via Image Processing 109 2.3 Deposited Material Occupancy Mapping 110 3 Experiment Setup 110 3.1 Physical Hardware Setup 111 3.2 Software 111 3.3 Measurement Test Using Generated Map 112 4 Results 112 5 Discussions and Conclusions 114 References 115 Function Representation for Robotic 3D Printed Concrete 118 Abstract 118 1 Introduction 118 1.1 Compressive Skeletal Structures and 3D Printing 119 1.2 Contributions and Outline 119 2 Related Work 119 2.1 3D Printing and Implicit Shape Representation 119 2.2 Implicit Modelling 120 2.3 Skeleton Based Implicit Modelling and Function Representation 120 2.4 Medical Imaging and Layered Printing 120 2.5 Previous Work 121 3 Processing of Funicular Networks for Concrete Printing 121 3.1 3D Skeletons and Initial Value Formulation of Front Propagation 121 3.2 Primitive Field Functions and Operations 122 3.3 Processing Nodes 123 4 Robotic 3D Printing 125 4.1 Path Planning 125 4.2 Results 125 5 Future Work 126 6 Conclusions 126 References 127 Material and Processes 129 Thermally Informed Robotic Topologies: Profile-3D-Printing for the Robotic Construction of Concrete Panels, Thermally Tuned Through High Resolution Surface Geometry 131 Abstract 131 1 Introduction 131 1.1 High Performance Building Component Design and Advanced Manufacturing 132 1.2 Additive Manufacturing for Construction 133 2 Methodology 133 2.1 Mix Design 133 2.2 Component Design and Simulation 134 2.3 Fabrication Approach 136 3 Results 139 3.1 Workcell Development 139 3.2 Panel Test Series 1: Testing for Process Constraints 139 3.3 Panel Test Series 2: Demonstration of Tooled Deposition Geometry Space 139 4 Conclusion 140 References 142 Hold Up: Machine Delay in Architectural Design 144 Abstract 144 1 Introduction 144 2 The Productive Delay: Stockhausen and Pollock 144 3 Being Real-Time 146 4 The Concept of Machine Delay 146 5 Pointillistic Time-Based Deposition 147 5.1 Delaying the Machine 147 5.2 Designing the Mix 148 5.3 Finding Materiality 150 6 The Architectural Design Possibilities of Dripping 150 6.1 Constructive 151 6.2 Aesthetic 153 7 Outlook: Deferring the End 154 Acknowledgements 154 References 154 Concrete Fabrication by Digitally Controlled Injection 157 Abstract 157 1 Introduction 157 1.1 Chemical Reaction Between Ordinary Portland Cement and Aluminium 157 1.2 Density Modulation 158 1.3 Concrete Fabrication 159 2 Background 159 2.1 Material Studies 159 2.2 Software and Hardware 160 2.3 Fabrication and Prototyping 162 3 Conclusion 166 Acknowledgments 167 Reference 167 Towards the Development of Fabrication Machine Species for Filament Materials 170 Abstract 170 1 Introduction 170 2 Background 171 3 Methods 173 3.1 Demonstrator 01 173 3.2 Demonstrator 02 176 3.3 Demonstrator 03 178 4 Results and Reflection 180 5 Outlook 181 References 181 Spatial Print Trajectory 185 Abstract 185 1 Introduction 185 2 Background Review 186 3 Overview of the Experiment 187 3.1 Experimental Setup 187 3.2 Procedures 187 3.3 Impact of Spatial Print Paths on the Anchor, Drag and Pull Maneuver 188 3.4 Impact of Incremental Print Speed/Extrusion Rate on the Anchor, Drag and Pull Maneuver 188 3.5 Modular Return-Loop Prototypes 189 4 Results 190 4.1 Print Time, Density, and Structural Integrity 190 4.2 Predictability 191 4.3 Discrepancy in Digital Print Path and the Actual Print 192 4.4 Nozzle Diameter Scalability 193 5 Conclusions and Outlook 194 Acknowledgments 197 References 197 An Additive and Subtractive Process for Manufacturing with Natural Composites 199 Abstract 199 1 Introduction 199 2 Material Design 200 3 Fabrication System 202 4 Process Parameters 203 5 Process Fusion 204 6 Geometric Modeling 205 7 Fabrication and Evaluation 205 8 Conclusions 207 References 207 Hard + Soft: Robotic Needle Felting for Nonwoven Textiles 210 Abstract 210 1 Introduction 210 2 Robotic Felting 211 3 Research, Development, and Implementation 212 3.1 Nonwoven Textiles 212 3.2 Process Tooling 213 3.3 Design Parameters 215 4 Case Studies 216 4.1 Shiplap 216 4.2 Shingle 217 4.3 Quilt 217 4.4 Stiffen 218 5 Conclusions 220 Acknowledgments 220 References 220 Construction and Structure 222 SCRIM – Sparse Concrete Reinforcement in Meshworks 224 Abstract 224 1 Introduction 224 1.1 Context and Motivation 224 1.2 Scope 225 2 State-of-the-Art 225 3 Methodology and Experimental Setups 226 3.1 Process Setup 226 3.2 Cementitious Material Setup 227 3.3 Setup for Experiment 1 - Testing the SCRIM Concept 227 3.4 Setup for Experiment 2: Scaling up 228 4 Results 230 4.1 Experiment 1 230 4.2 Experiment 2 231 5 Discussion and Further Work 233 5.1 Contributions and Implications 233 5.2 Limits 233 5.3 Further Work 233 6 Conclusion 235 Acknowledgements 235 References 235 Versatile Robotic Wood Processing Based on Analysis of Parts Processing of Japanese Traditional Wooden Buildings 238 Abstract 238 1 Introduction 238 2 Related Work 239 3 Robot Tools and Toolpath Generation 240 3.1 Carpentry Tools and Part Shapes in Japanese Traditional Wooden Buildings 240 3.2 Robot Tools 241 3.3 Parts Processing System 242 4 Experiments: Roof Corner of Five-Storied Pagoda of Japanese Traditional Wooden Building 243 5 Discussion 245 6 Conclusion 246 Acknowledgments 246 References 246 Form Finding of Nexorades Using the Translations Method 249 Abstract 249 1 Introduction 249 2 Geometry of Shell-Nexorade Hybrids 250 3 Design Workflow and Fabrication: Integrated Approach 251 3.1 Integrated Design Workflow 251 3.2 Designing for Flexibility and Modularity 252 3.3 Operations and Component Geometry Fitting 253 4 Discussion 254 4.1 Structural Benefits of Shell-Nexorade Hybrids 254 4.2 On-Site Assembly 255 5 Conclusion 256 References 256 Sub-Additive 3D Printing of Optimized Double Curved Concrete Lattice Structures 259 Abstract 259 1 Intro and Context 259 2 Methodology 260 2.1 General Principle and Curvature Conventions 260 2.2 Testing Parameters of Sub-Additive Printing 262 3 Structural Optimization and Workflow Strategy 265 3.1 Tool Path, G-Code, and KRL 265 3.2 Structural Optimization 265 4 Results 266 4.1 Concrete 3D Printing of Arch Structures (Gantry Printing) 266 4.2 Concrete 3D Printing of Tri-Arch Structures (Robotic Platform) 267 4.3 Sub-additive Process Advantages 268 5 Future Investigations 269 6 Conclusion 270 Acknowledgements 270 References 270 Investigations on Potentials of Robotic Band-Saw Cutting in Complex Wood Structures 273 Abstract 273 1 Introduction 273 2 Methods and Tools 274 2.1 Tools 274 2.2 Research Method 275 3 Wood Pavilion 1: Design and Fabrication of Complex Wood Structure with Plane Curved Beams 275 3.1 Fabrication-Oriented Structural Design 276 3.2 Raw Beams Production 276 3.3 Robotic Fabrication 277 3.4 Assembly On-Site 277 3.5 Research Evaluation 278 4 Wood Pavilion 2: Design and Fabrication of Complex Wood Structure with Space Curved Beams 279 4.1 Structure Design 279 4.2 Raw Beams Production 280 4.3 Digital Fabrication 280 4.4 Assembly On-Site 282 4.5 Research Evaluation 283 5 Conclusion and Discussion 283 Acknowledgments 285 References 285 Direct Deposition of Jammed Architectural Structures 287 Abstract 287 1 Introduction 287 2 Three Methods of Direct Deposition Fabrication 288 2.1 Closed Mould Direct Deposition 288 2.2 Open Mould Direct Deposition 289 2.3 Mould-Free Direct Deposition 290 3 Robotic Fabrication and Computational Design 290 4 Prototypical Construction Experiments 292 4.1 Experiment 1 292 4.2 Experiment 2 293 5 Conclusions and Future Challenges 296 Acknowledgments 296 References 297 Control and Fabrication 298 FIBERBOTS: Design and Digital Fabrication of Tubular Structures Using Robot Swarms 300 Abstract 300 1 Introduction 300 2 Design Software for Swarm Fabrication 302 3 Swarm Fabricators 304 4 Physical Realization of a Swarm Fabricated Structure 307 5 Conclusion and Future Work 309 Acknowledgments 309 References 309 InFormed Ceramics: Multi-axis Clay 3D Printing on Freeform Molds 312 Abstract 312 1 Introduction 312 1.1 Ceramics in Architecture 312 1.2 Previous Works 313 1.3 Project “InFormed Ceramics” 314 2 Material Studies and Robotic Tooling for Clay Extrusion 314 2.1 Material Selection 314 2.2 Development of Clay Extruder 315 3 Fabrication Methodology and Application 316 3.1 Freeform Mold 317 3.2 Robotic Multi-axis Clay Deposition 319 3.3 Application 319 3.4 Post-processing and On-site Installation 320 4 Conclusion and Future Development 321 Acknowledgements 322 References 322 Altered Behaviour: The Performative Nature of Manufacture Chainsaw Choreographies + Bandsaw Manoeuvres 324 Abstract 324 1 Introduction 324 1.1 The Foundry 325 1.2 Material Library 325 2 Altering the Behaviour of Tools 327 2.1 Act 1: The Chainsaw, Act 2: The Bandsaw 327 2.2 Robot Language and Logistics 329 3 Performative Nature of Manufacturing 330 4 Conclusion 332 References 333 Cyber Physical Macro Material as a UAV [re]Configurable Architectural System 335 Abstract 335 1 Introduction 335 2 Context 337 3 State-of-the-Art 338 4 Methods 338 4.1 Material 338 4.2 UAV Builder 340 4.3 Communication and Programming 341 4.4 System Tests 344 5 Proposed System Behaviors 344 5.1 Responsive Behavior 344 5.2 Interactive Behavior 344 5.3 Learning Behaviors 344 6 Discussion 346 6.1 System Potentials 346 6.2 Further Development 347 7 Conclusion and Outlook 348 References 348 Adaptive Robotic Carving 351 Abstract 351 1 Introduction 351 2 Context 352 3 Robotic Training Methods 353 3.1 Training Tools 353 3.2 Design to Fabrication Workflows 355 4 Experiments and Results Discussion 356 5 Conclusions 360 Acknowledgments 361 References 362 Multimode Robotic Materialization 364 Abstract 364 1 Introduction 364 2 Multimode Robotic Production Methods 365 2.1 Subtractive-Subtractive 365 2.2 Subtractive-Additive 368 3 Design to Fabrication Workflow and Prototyping 370 3.1 Digital to Physical Materialization Procedure 370 3.2 Robotic Production Simulation and Toolpath Strategy 371 3.3 Prototyping Test of Multi-materiality: Soft Silicone and Hard Polystyrene Foam 374 4 Conclusion and Future Works 375 Acknowledgments 375 References 375 Digital Composites: Robotic 3D Printing of Continuous Carbon Fiber-Reinforced Plastics for Functionally-Graded Building Components 378 Abstract 378 1 Introduction 378 1.1 Background 378 1.2 State-of-the-Art 380 2 Free CFRP Fabrication 381 3 Questions 382 4 Approach 382 4.1 Fabrication Process 382 4.2 Fabrication-Aware Computational Design Tool 384 5 Results 385 6 Discussion and Outlook 387 7 Conclusion 388 Acknowledgements 389 References 389 Robotic Extrusion of Architectural Structures with Nonstandard Topology 392 Abstract 392 1 Introduction 392 1.1 Complexity and Topology 393 1.2 Topology in Robotic Extrusion 394 1.3 Research Aim 394 2 Automatic Motion Planning System 394 2.1 Step 1: Ground Structure Topology Optimization 395 2.2 Step 1: Other Topology-Generating Methods 396 2.3 Steps 2 and 3: Assembly Sequence and Motion Planning with Choreo 396 2.4 Step 4: Post-processing and Robotic Extrusion 397 3 Case Studies 398 3.1 Topology Optimized Vault 398 3.2 3D Voronoi 399 3.3 Mars Habitat Design 400 4 Conclusions 401 References 402 On-Site Robotics for Sustainable Construction 405 Abstract 405 1 Introduction 405 1.1 Background 405 1.2 Motivations 406 2 Cable Robotics for On-Site 3D Printing 406 2.1 Transporting and Reconfiguring a Cable Robot 407 2.2 Support Structure Design 408 2.3 Material and Extrusion Technology 409 3 Drone Scanning 409 3.1 Monitoring Solutions 410 3.2 Results 411 3.3 Next Challenges 411 4 Human-Machine Interface 411 4.1 CNC Control 412 4.2 On-Site Quality Control 412 4.3 Cable Robot as a Precise Crane 412 4.4 Conclusions 413 5 Conclusion 414 Acknowledgments 414 References 415 Application and Practice 416 Tailored Structures, Robotic Sewing of Wooden Shells 418 Abstract 418 1 Introduction 418 2 Background 419 2.1 Garment Design and Patterning in Architecture 419 2.2 Patterning Techniques in Wood and Architecture 420 2.3 Sewing Wood 420 2.4 Adaptive Robotics 420 2.5 State-of-the-Art 421 3 Methodology 421 3.1 Patterning Design 422 3.2 Wood Forming: Species Bending Radii and Bending Tests 422 3.3 Microscopic Behavior of Fibers Through Puncture 423 3.4 Tension Load Test 423 3.5 Digital Design Techniques 424 3.6 Fabrication Process Overview 425 3.7 Connection Design and Sensing 425 3.8 3D Scanning 426 3.9 Robotic System Integration 426 3.10 System Integration 427 4 Results and Discussion 428 4.1 Patterning and Forming 428 4.2 Sewing 428 4.3 Adaptive and Automated Robotic Sewing Workflow 428 4.4 Demonstrators 428 5 Conclusion 430 Acknowledgements 431 References 431 Dynamic Robotic Slip-Form Casting and Eco-Friendly Building Façade Design 434 Abstract 434 1 Introduction 434 2 Background 435 3 Modification of Dynamic Robotic Casting 437 3.1 Fabrication Pipeline 438 3.2 Material and Formula Composition 439 4 Design Process Driven by Data Flow 440 4.1 Computational and Interactive Design 440 4.2 Data Flow from Design to Fabrication 440 5 Scenario of Eco-Friendly Building Design and Fabrication 441 5.1 Smart Shading Component 441 5.2 Eco-Friendly Concrete Screen 442 5.3 Lighting Planning 442 6 Conclusions 444 Acknowledgments 444 References 444 Ceramic Constellation | Robotically Printed Brick Specials 447 Abstract 447 1 Background 447 1.1 Challenges and Opportunities 447 1.2 The Brick Special 448 2 Objectives 449 3 Methodology 449 3.1 Generating Specificity 449 3.2 Digital Fabrication Strategy 451 3.3 Feedbacks and Inputs 453 4 Pavilion Fabrication and Assembly 454 5 Conclusion 455 5.1 Performance and Logistics 456 5.2 Material Feedback and Computation 456 5.3 Framework for Certification 457 Acknowledgments 457 References 457 Robotic Fabrication of Bespoke Timber Frame Modules 460 Abstract 460 1 Introduction 460 2 Techniques 461 2.1 Timber Frame Construction System 461 2.2 Computational Design 462 2.3 Experimental Setup 463 2.4 Experiments 464 3 Conclusion 469 Acknowledgements 469 References 470 Large-Scale Additive Manufacturing of Ultra-High-Performance Concrete of Integrated Formwork for Truss-Shaped Pillars 472 Abstract 472 1 Introduction 473 2 Design for Additive Manufacturing 474 3 Concrete Formwork 3D Printing 474 4 Pillar in Aix-en-Provence, France 476 4.1 Context 476 4.2 Design 477 4.3 Manufacturing 479 5 Conclusions and Outlook 483 References 484 Realization of Topology Optimized Concrete Structures Using Robotic Abrasive Wire-Cutting of Expanded Polystyrene Formwork 486 Abstract 486 1 Background 486 1.1 Motivation 486 1.2 Hypothesis 487 2 Formwork Manufacturing 488 2.1 State-of-the-Art 488 3 Prototype Design 490 3.1 Rationalization 491 3.2 Formwork System 491 3.3 Robotic Production 493 3.4 Formwork Assembly and Casting 494 4 Conclusions 496 5 Discussion and Further Work 496 5.1 Further Work 498 References 498 The Brick Labyrinth 502 Abstract 502 1 Introduction 502 2 Design Research 504 2.1 Design Brief and Explorations 504 2.2 Final Design 505 3 Computational Setup 506 3.1 Computational Design 506 3.2 Structural Stability Analysis 507 3.3 Robotic Fabrication Simulation and Online Robot Control 507 4 Robotic Fabrication 509 4.1 Robotic Setup 509 4.2 Sequencing 510 5 Conclusion and Outlook 510 Acknowledgments 511 References 511 Author Index 513 Front Matter ....Pages i-xxii Front Matter ....Pages 1-1 Image Classification for Robotic Plastering with Convolutional Neural Network (Joshua Bard, Ardavan Bidgoli, Wei Wei Chi)....Pages 3-15 Designing Natural Wood Log Structures with Stochastic Assembly and Deep Learning (Kaicong Wu, Axel Kilian)....Pages 16-30 Mockup Method: Heuristic Architectural Fragments as Central Models in Architectural Design (Kevin Pazik)....Pages 31-43 Haptic Programming (Sven Stumm, Sigrid Brell-Çokcan)....Pages 44-58 Towards Automatic Path Planning for Robotically Assembled Spatial Structures (Augusto Gandia, Stefana Parascho, Romana Rust, Gonzalo Casas, Fabio Gramazio, Matthias Kohler)....Pages 59-73 Communication Landscapes (Giovanni Betti, Saqib Aziz, Andrea Rossi, Oliver Tessmann)....Pages 74-84 Towards Visual Feedback Loops for Robot-Controlled Additive Manufacturing (Sheila Sutjipto, Daniel Tish, Gavin Paul, Teresa Vidal-Calleja, Tim Schork)....Pages 85-97 Function Representation for Robotic 3D Printed Concrete (Shajay Bhooshan, Johannes Ladinig, Tom Van Mele, Philippe Block)....Pages 98-109 Front Matter ....Pages 111-111 Thermally Informed Robotic Topologies: Profile-3D-Printing for the Robotic Construction of Concrete Panels, Thermally Tuned Through High Resolution Surface Geometry (Joshua Bard, Dana Cupkova, Newell Washburn, Garth Zeglin)....Pages 113-125 Hold Up: Machine Delay in Architectural Design (Zach Cohen)....Pages 126-138 Concrete Fabrication by Digitally Controlled Injection (Ryan Wei Shen Chee, Wei Lin Tan, Wei Hern Goh, Felix Amtsberg, Stylianos Dritsas)....Pages 139-151 Towards the Development of Fabrication Machine Species for Filament Materials (Maria Yablonina, Achim Menges)....Pages 152-166 Spatial Print Trajectory (Sulaiman AlOthman, Hyeonji Claire Im, Francisco Jung, Martin Bechthold)....Pages 167-180 An Additive and Subtractive Process for Manufacturing with Natural Composites (Stylianos Dritsas, Yadunund Vijay, Marina Dimopoulou, Naresh Sanadiya, Javier G. Fernandez)....Pages 181-191 Hard + Soft: Robotic Needle Felting for Nonwoven Textiles (Wes McGee, Tsz Yan Ng, Asa Peller)....Pages 192-204 Front Matter ....Pages 205-205 SCRIM – Sparse Concrete Reinforcement in Meshworks (Phil Ayres, Wilson Ricardo Leal da Silva, Paul Nicholas, Thomas Juul Andersen, Johannes Portielje Rauff Greisen)....Pages 207-220 Versatile Robotic Wood Processing Based on Analysis of Parts Processing of Japanese Traditional Wooden Buildings (Hiroki Takabayashi, Keita Kado, Gakuhito Hirasawa)....Pages 221-231 Form Finding of Nexorades Using the Translations Method (Tristan Gobin, Romain Mesnil, Cyril Douthe, Pierre Margerit, Nicolas Ducoulombier, Leo Demont et al.)....Pages 232-241 Sub-Additive 3D Printing of Optimized Double Curved Concrete Lattice Structures (Christopher A. Battaglia, Martin Fields Miller, Sasa Zivkovic)....Pages 242-255 Investigations on Potentials of Robotic Band-Saw Cutting in Complex Wood Structures (Hua Chai, Philip F. Yuan)....Pages 256-269 Direct Deposition of Jammed Architectural Structures (Petrus Aejmelaeus-Lindström, Gergana Rusenova, Ammar Mirjan, Fabio Gramazio, Matthias Kohler)....Pages 270-281 Front Matter ....Pages 283-283 FIBERBOTS: Design and Digital Fabrication of Tubular Structures Using Robot Swarms (Markus Kayser, Levi Cai, Christoph Bader, Sara Falcone, Nassia Inglessis, Barrak Darweesh et al.)....Pages 285-296 InFormed Ceramics: Multi-axis Clay 3D Printing on Freeform Molds (Minjae Ko, Donghan Shin, Hyunguk Ahn, Hyungwoo Park)....Pages 297-308 Altered Behaviour: The Performative Nature of Manufacture Chainsaw Choreographies + Bandsaw Manoeuvres (Emmanuel Vercruysse, Zachary Mollica, Pradeep Devadass)....Pages 309-319 Cyber Physical Macro Material as a UAV [re]Configurable Architectural System (Dylan Wood, Maria Yablonina, Miguel Aflalo, Jingcheng Chen, Behrooz Tahanzadeh, Achim Menges)....Pages 320-335 Adaptive Robotic Carving (Giulio Brugnaro, Sean Hanna)....Pages 336-348 Multimode Robotic Materialization (Sina Mostafavi, Benjamin N. Kemper, Daniel L. Fischer)....Pages 349-362 Digital Composites: Robotic 3D Printing of Continuous Carbon Fiber-Reinforced Plastics for Functionally-Graded Building Components (Hyunchul Kwon, Martin Eichenhofer, Thodoris Kyttas, Benjamin Dillenburger)....Pages 363-376 Robotic Extrusion of Architectural Structures with Nonstandard Topology (Yijiang Huang, Josephine Carstensen, Lavender Tessmer, Caitlin Mueller)....Pages 377-389 On-Site Robotics for Sustainable Construction (Alexandre Dubor, Jean-Baptiste Izard, Edouard Cabay, Aldo Sollazzo, Areti Markopoulou, Mariola Rodriguez)....Pages 390-401 Front Matter ....Pages 403-403 Tailored Structures, Robotic Sewing of Wooden Shells (Martin E. Alvarez, Erik E. Martínez-Parachini, Ehsan Baharlou, Oliver David Krieg, Tobias Schwinn, Lauren Vasey et al.)....Pages 405-420 Dynamic Robotic Slip-Form Casting and Eco-Friendly Building Façade Design (Lei Yu, Dan Luo, Weiguo Xu)....Pages 421-433 Ceramic Constellation | Robotically Printed Brick Specials (Christian J. Lange, Donn Holohan, Holger Kehne)....Pages 434-446 Robotic Fabrication of Bespoke Timber Frame Modules (Andreas Thoma, Arash Adel, Matthias Helmreich, Thomas Wehrle, Fabio Gramazio, Matthias Kohler)....Pages 447-458 Large-Scale Additive Manufacturing of Ultra-High-Performance Concrete of Integrated Formwork for Truss-Shaped Pillars (Nadja Gaudillière, Romain Duballet, Charles Bouyssou, Alban Mallet, Philippe Roux, Mahriz Zakeri et al.)....Pages 459-472 Realization of Topology Optimized Concrete Structures Using Robotic Abrasive Wire-Cutting of Expanded Polystyrene Formwork (Asbjørn Søndergaard, Jelle Feringa, Florin Stan, Dana Maier)....Pages 473-488 The Brick Labyrinth (Luka Piškorec, David Jenny, Stefana Parascho, Hannes Mayer, Fabio Gramazio, Matthias Kohler)....Pages 489-500 Back Matter ....Pages 501-503 The book presents research from Rob Arch 2018, the fourth international conference on robotic fabrication in architecture, art, and design. In capturing the myriad of scientific advances in robotics fabrication that are currently underway? such as collaborative design tools, computerised materials, adaptive sensing and actuation, advanced construction, on-site and cooperative robotics, machine-learning, human-machine interaction, large-scale fabrication and networked workflows, to name but a few? this compendium reveals how robotic fabrication is becoming a driver of scientific innovation, cross-disciplinary fertilization and creative capacity of an unprecedented kind