Co-Design in Architecture: A Modular Material-Robot Kinematic Construction System

Modern developments of construction robotics generally utilize a robot-oriented design approach to develop viable systems for the building industry. This has led to highly sophisticated automation of conventional, but at best slightly altered construction processes. In this paper, we argue for a material-robot oriented design process for the creation of novel construction robotic systems, which can expand the repertoire of current building practice and architectural possibilities. The co-design of a modular material-robot kinematic chain construction system in which the material, robot, and process inform the overall system is introduced from the architectural design, robotic mechatronic development, and task and motion planning perspectives. We present initial research on how material-robot kinematic chains can work in parallel to assemble, disassemble and rearrange large structures. Keywords— construction robotics, architecture, task and motion planning, modular robotics