Robust Robotic Assembly of Reusable, Rectangular Blocks

This paper investigates the importance and design implications for use of rectangular blocks in collective robotic construction systems with distributed control. Specifically, we introduce an automated solver for optimizing the overlaps in user-specified structures; a new robot design capable of man...

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Veröffentlicht in:Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems S. 19929 - 19935
Hauptverfasser: Huang, Zhongming, Yao, Hongyu, Peng, Haocheng, Lin, Shih-Ming, Petersen, Kirstin, Napp, Nils
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 19.10.2025
Schlagworte:
Decentralized control
Intelligent robots
Joining processes
Noise measurement
Physics
Robotic assembly
ISSN:2153-0866
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Zusammenfassung:This paper investigates the importance and design implications for use of rectangular blocks in collective robotic construction systems with distributed control. Specifically, we introduce an automated solver for optimizing the overlaps in user-specified structures; a new robot design capable of manipulating, fastening, and climbing over blocks as wide as the robot; detailed analysis of robot primitives and demonstration of rectilinear, curved, cantilever, and corbeled arch structures; and results from a physics simulator showing how overlaps improve structural integrity when the depositions are noisy. This work represents an important step towards efficient and versatile large-scale robotic construction.
ISSN:2153-0866
DOI:10.1109/IROS60139.2025.11246360