TY - GEN
T1 - Dry Stacking for Automated Construction with Irregular Objects
AU - Thangavelu, Vivek
AU - Liu, Yifang
AU - Saboia, Maira
AU - Napp, Nils
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - We describe a method for automatically building structures from stacked, irregularly shaped objects. This is a simplified model for the problem of building dry stacked structures (i.e. no mortar) from found stones. Although automating such construction methods would be ideally suited for disaster areas or remote environments, currently such structures need to be built by skilled masons. No practical methods for automating the assembly planning process are known. The problem is challenging since each assembly action can be drawn from a continuous space poses for an object and several local geometric and physical considerations strongly affect the overall stability. We show that structures that are built following a stacking order for perfect bricks can accommodate a limited amount of irregularity, however, their performance degrades quickly when objects deviate from their ideal shape. We present a strategy for stacking irregular shapes that first considers geometric and physical constraints to find a small set of feasible actions and then further refines this set by using heuristics gathered from instructional literature for masons. The proposed method of choosing assembly actions allows construction with objects that contain a significant amount of variation.
AB - We describe a method for automatically building structures from stacked, irregularly shaped objects. This is a simplified model for the problem of building dry stacked structures (i.e. no mortar) from found stones. Although automating such construction methods would be ideally suited for disaster areas or remote environments, currently such structures need to be built by skilled masons. No practical methods for automating the assembly planning process are known. The problem is challenging since each assembly action can be drawn from a continuous space poses for an object and several local geometric and physical considerations strongly affect the overall stability. We show that structures that are built following a stacking order for perfect bricks can accommodate a limited amount of irregularity, however, their performance degrades quickly when objects deviate from their ideal shape. We present a strategy for stacking irregular shapes that first considers geometric and physical constraints to find a small set of feasible actions and then further refines this set by using heuristics gathered from instructional literature for masons. The proposed method of choosing assembly actions allows construction with objects that contain a significant amount of variation.
UR - http://www.scopus.com/inward/record.url?scp=85063006868&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8460562
DO - 10.1109/ICRA.2018.8460562
M3 - Conference contribution
AN - SCOPUS:85063006868
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4782
EP - 4789
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -