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Integrative Computational Design and Construction for Architecture (T3.0)
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RP 16-2 – Spider Crane Robotic Platform for On-Site Construction

Spider Crane Robotic Platform for On-Site Construction

Research Project 16-2 (RP 16-2)

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CYBER-PHYSICAL ON-SITE CONSTRUCTION PROCESSES USING A SPIDER CRANE ROBOTIC PLATFORM

This project will focus on the robotic assembly of form-fit timber building systems developed at IntCDC. These include the livMatS Biomimetic Shell and the multi-storey building system of Research Project RP 3-1, which can be used to add floors to existing buildings due to their light weight. By automating time-consuming tasks using our spider crane cyber-physical construction platform, we will address the shortage of skilled workers and increase construction speed. This robotic system must be able to coordinate its own movements on site to pick up and assemble a variety of building components. We will therefore develop an absolute tracking and positioning system that uses the camera modules of the image-assisted total stations (IATSs) and image-processing techniques. It will automatically recognise the target building component and continuously estimate its position and orientation without prisms or other markers.

We will use this high-quality visual pose estimation system to investigate processes ranging from smart teleoperation to fully autonomous control, including haptic feedback, automation of time-consuming tasks, force control, trajectory generation in contact situations, and machine-machine collaboration. As high contact forces can damage the manipulator and the manipulated object, we will characterise the possible contact situations and develop an accurate real-time haptic perception system based on data from teleoperated assembly of form-fit timber parts.

For increased safety and efficiency, our smart teleoperation system will enable the operator to feel steady-state interaction forces and/or torques, as well as digital guidance to the desired component pose. It will also allow the operator to record brief actions that can then be autonomously repeated through task-parameterised movement learning.

During autonomous assembly, the pose data from the IATSs and the predicted interaction forces will be used to generate trajectories and parameterise the controller according to the different interaction situations. We will then investigate collaborative assembly between the tower crane and the spider crane. This configuration advantageously combines the high payload capacity of the tower crane with the positioning accuracy of the spider crane. To close the loop from automated fabrication to automated assembly, we will also work on pick-up strategies of an autonomous mobile robot (AMR) that transports the components from the prefabrication platform to the construction site.

PRINCIPAL INVESTIGATORS

Dr. Katherine J. Kuchenbecker
Haptic Intelligence Department (MPI-IS, HI), Max Planck Institute for Intelligent Systems
Prof. Dr.-Ing. Dr. h.c. Oliver Sawodny
Institute for System Dynamics (ISYS), University of Stuttgart
Prof. Dr.-Ing. habil. Volker Schwieger
Institute of Engineering Geodesy (IIGS), University of Stuttgart

TEAM

Tenure-Track Prof. Dr.-Ing. Anja Lauer (ISYS)
Dr. Bernard Javot (MPI-IS, HI)
Dr.-Ing. Gabriel Kerekes (IIGS)
Dr. Mayumi Mohan (MPI-IS, HI)
Yijie Gong (MPI-IS, HI)
Lyudmila Gorokhova (IIGS)
Naomi Tashiro (MPI-IS, HI)
Philipp Wasserloos (ISYS)
Philipp Arnold (ISYS)

PEER-REVIEWED PUBLICATIONS

2024
1. Gienger, A., Stein, C., Lauer, A. P. R., Sawodny, O., & Tarín, C. (2024). Data-Based Reachability Analysis and Optimized Robot Positioning for Co-Design of Construction Processes. 2024 IEEE/SICE International Symposium on System Integration (SII).
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  @conference{noauthororeditor, author = {Gienger, Andreas and Stein, Charlotte and Lauer, Anja Patricia Regina and Sawodny, Oliver and Tarín, Cristina}, booktitle = {2024 IEEE/SICE International Symposium on System Integration (SII)}, title = {Data-Based Reachability Analysis and Optimized Robot Positioning for Co-Design of Construction Processes}, year = 2024 }
2. Gong, Y., Mat Husin, H., Erol, E., Ortenzi, V., & Kuchenbecker, K. J. (2024). AiroTouch: enhancing telerobotic assembly through naturalistic haptic feedback of tool vibrations. Frontiers in Robotics and AI, 11. https://doi.org/10.3389/frobt.2024.1355205
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  @article{10.3389/frobt.2024.1355205, abstract = {Teleoperation allows workers to safely control powerful construction machines; however, its primary reliance on visual feedback limits the operator’s efficiency in situations with stiff contact or poor visibility, hindering its use for assembly of pre-fabricated building components. Reliable, economical, and easy-to-implement haptic feedback could fill this perception gap and facilitate the broader use of robots in construction and other application areas. Thus, we adapted widely available commercial audio equipment to create AiroTouch, a naturalistic haptic feedback system that measures the vibration experienced by each robot tool and enables the operator to feel a scaled version of this vibration in real time. Accurate haptic transmission was achieved by optimizing the positions of the system’s off-the-shelf accelerometers and voice-coil actuators. A study was conducted to evaluate how adding this naturalistic type of vibrotactile feedback affects the operator during telerobotic assembly. Thirty participants used a bimanual dexterous teleoperation system (Intuitive da Vinci Si) to build a small rigid structure under three randomly ordered haptic feedback conditions: no vibrations, one-axis vibrations, and summed three-axis vibrations. The results show that users took advantage of both tested versions of the naturalistic haptic feedback after gaining some experience with the task, causing significantly lower vibrations and forces in the second trial. Subjective responses indicate that haptic feedback increased the realism of the interaction and reduced the perceived task duration, task difficulty, and fatigue. As hypothesized, higher haptic feedback gains were chosen by users with larger hands and for the smaller sensed vibrations in the one-axis condition. These results elucidate important details for effective implementation of naturalistic vibrotactile feedback and demonstrate that our accessible audio-based approach could enhance user performance and experience during telerobotic assembly in construction and other application domains.}, author = {Gong, Yijie and Mat Husin, Haliza and Erol, Ecda and Ortenzi, Valerio and Kuchenbecker, Katherine J.}, doi = {10.3389/frobt.2024.1355205}, issn = {2296-9144}, journal = {Frontiers in Robotics and AI}, title = {AiroTouch: enhancing telerobotic assembly through naturalistic haptic feedback of tool vibrations}, url = {https://www.frontiersin.org/articles/10.3389/frobt.2024.1355205}, volume = 11, year = 2024 }
3. Herschel, M., Gienger, A., Lauer, A. P. R., Stein, C., Skoury, L., Lässig, N., Ellwein, C., Verl, A., Wortmann, T., & Tarin Sauer, C. (2024). Putting Co-Design-Supporting Data Lakes to the Test: An Evaluation on AEC Case Studies. International Conference on Big Data Analytics and Knowledge Discovery (DAWAK).
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  @inproceedings{herschel2024putting, author = {Herschel, Melanie and Gienger, Andreas and Lauer, Anja P. R. and Stein, Charlotte and Skoury, Lior and Lässig, Nico and Ellwein, Carsten and Verl, Alexander and Wortmann, Thomas and Tarin Sauer, Cristina}, booktitle = {International Conference on Big Data Analytics and Knowledge Discovery (DAWAK)}, title = {Putting Co-Design-Supporting Data Lakes to the Test: An Evaluation on AEC Case Studies}, year = 2024 }
4. Mohan, M., Nunez, C. M., & Kuchenbecker, K. J. (2024). Closing the Loop in Minimally Supervised Human-Robot Interaction: Formative and Summative Feedback. Scientific Reports, 14, Article 10564. https://doi.org/10.1038/s41598-024-60905-x
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  @article{Mohan24-SR-Closing, author = {Mohan, Mayumi and Nunez, Cara M. and Kuchenbecker, Katherine J.}, doi = {10.1038/s41598-024-60905-x}, journal = {Scientific Reports}, month = {05}, month_numeric = {5}, number = 10564, pages = {1--18}, title = {Closing the Loop in Minimally Supervised Human-Robot Interaction: Formative and Summative Feedback}, volume = 14, year = 2024 }
5. Opgenorth, N., Cheng, T., Lauer, P. R. A., Stark, T., Tahouni, Y., Treml, S., Göbel, M., Kiesewetter, L., Schlopschnat, C., Zorn, M. B., Yang, X., Amtsberg, F., Wagner, H. J., Wood, D., Sawodny, O., Wortmann, T., & Menges, A. (2024). Multi-scalar computational fabrication and construction of bio-based building envelopes – the livMatS biomimetic shell. Fabricate 2024: Creating Resourceful Futures, 22–31. https://doi.org/10.2307/jj.11374766.7
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  @inproceedings{noauthororeditor, author = {Opgenorth, Nils and Cheng, Tiffany and Lauer, Patricia Regina Anja and Stark, Tim and Tahouni, Yasaman and Treml, Simon and Göbel, Monika and Kiesewetter, Laura and Schlopschnat, Christoph and Zorn, Max Benjamin and Yang, Xiliu and Amtsberg, Felix and Wagner, Hans Jakob and Wood, Dylan and Sawodny, Oliver and Wortmann, Thomas and Menges, Achim}, booktitle = {Fabricate 2024: Creating Resourceful Futures}, doi = {10.2307/jj.11374766.7}, isbn = {9781800086357}, pages = {22-31}, publisher = {UCL Press}, title = {Multi-scalar computational fabrication and construction of bio-based building envelopes – the livMatS biomimetic shell}, url = {http://www.jstor.org/stable/jj.11374766.7}, year = 2024 }
6. Tashiro, N., Faulkner, R., Melnyk, S., Rosales Rodriguez, T., Javot, B., Tahouni, Y., Cheng, T., Wood, D., Menges, A., & Kuchenbecker, K. J. (2024). Building Instructions You Can Feel: Edge-Changing Haptic Devices for Digitally Guided Construction. ACM Trans. Comput.-Hum. Interact. https://doi.org/10.1145/3698235
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  @article{Tashiro2024, abstract = {Recent efforts to connect builders to digital designs during construction have primarily focused on visual augmented reality, which requires accurate registration and specific lighting, and which could prevent a user from noticing safety hazards. Haptic interfaces, on the other hand, can convey physical design parameters through tangible local cues that don’t distract from the surroundings. We propose two edge-changing haptic devices that use small inertial measurement units (IMUs) and linear actuators to guide users to perform construction tasks in real time: Drangle gives feedback for angling a drill relative to gravity, and Brangle assists with orienting bricks in the plane. We conducted a study with 18 participants to evaluate user performance and gather qualitative feedback. All users understood the edge-changing cues from both devices with minimal training. Drilling holes with Drangle was somewhat less accurate but much faster and easier than with a mechanical guide; 89% of participants preferred Drangle over the mechanical guide. Users generally understood Brangle’s feedback but found its hand-size-specific grip, palmar contact, and attractive tactile cues less intuitive than Drangle’s generalized form factor, fingertip contact, and repulsive cues. After summarizing design considerations, we propose application scenarios and speculate how such devices could improve construction workflows.}, address = {New York, NY, USA}, author = {Tashiro, Naomi and Faulkner, Robert and Melnyk, Samantha and Rosales Rodriguez, Tamara and Javot, Bernard and Tahouni, Yasaman and Cheng, Tiffany and Wood, Dylan and Menges, Achim and Kuchenbecker, Katherine J.}, day = 5, doi = {10.1145/3698235}, issn = {1073-0516}, journal = {ACM Trans. Comput.-Hum. Interact.}, month = {10}, publisher = {Association for Computing Machinery}, title = {Building Instructions You Can Feel: Edge-Changing Haptic Devices for Digitally Guided Construction}, url = {https://doi.org/10.1145/3698235}, year = 2024 }
7. Zhang, R., Xu, X., Liu, K., Kong, L., Wang, W., & Wortmann, T. (2024). Airflow modelling for building design: A designers’ review. Renewable and Sustainable Energy Reviews, 197, 114380. https://doi.org/10.1016/j.rser.2024.114380
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  @article{ZHANG2024114380, abstract = {Sustainable design is no longer an emerging debate. Data-driven urban and architectural design faces several potential threats related to airflow modelling, including extreme wind environments, pollutant emissions, and the potential for new wind energy in design. Designers require advanced design tools to address these airflow modelling challenges. Still, it is difficult for designers to implement and utilise airflow models fully, and not all data-driven approaches are accessible to designers in traditional design workflow systems. This review systematically analyses the frontiers of airflow modelling in urban and architectural building design from the designer's perspective. It briefly summarises the advantages and disadvantages of airflow modelling based on the parametric design's white-box, black-box, and grey-box approaches. This review explores the challenges of wind environments and their analytical responses by screening design research articles at three scales. It summarises the eight main existing research directions. The article discusses the findings of designers at each scale, revealing significant areas of interest and continuing focus, such as the reduction of pollutant emissions and the interaction of new wind energy generation in design. This study concludes with three responses to possible challenges: improved resolution for design research loop, unification of information entropy in design and research, and airflow modelling tool-accessibility in the overall design ethos and education mindset; and provides illustrative vignettes of possible demos for the future development of airflow models' accessibility; and offers a vision of how designers better produce data-accessible design logic and fulfil their role in future sustainable design.}, author = {Zhang, Ran and Xu, Xiaodong and Liu, Ke and Kong, Lingyu and Wang, Wei and Wortmann, Thomas}, doi = {https://doi.org/10.1016/j.rser.2024.114380}, issn = {1364-0321}, journal = {Renewable and Sustainable Energy Reviews}, pages = 114380, title = {Airflow modelling for building design: A designers' review}, url = {https://www.sciencedirect.com/science/article/pii/S1364032124001035}, volume = 197, year = 2024 }
2023
1. Gong, Y., Javot, B., Lauer, A. P. R., Sawodny, O., & Kuchenbecker, K. J. (2023). Naturalistic Vibrotactile Feedback Could Facilitate Telerobotic Assembly on Construction Sites. In 2. I. W. H. C. Committee (Ed.), 2023 IEEE World Haptics Conference (WHC) (pp. 169–175). https://doi.org/10.1109/WHC56415.2023.10224499
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  @inproceedings{10224499, abstract = {Telerobotics is regularly used on construction sites to build large structures efficiently. A human operator remotely controls the construction robot under direct visual feedback, but visibility is often poor. Future construction robots that move autonomously will also require operator monitoring. Thus, we designed a wireless haptic feedback system to provide the operator with task-relevant mechanical information from a construction robot in real time. Our AiroTouch system uses an accelerometer to measure the robot end-effector’s vibrations and uses off-the-shelf audio equipment and a voice-coil actuator to display them to the user with high fidelity. A study was conducted to evaluate how this type of naturalistic vibration feedback affects the observer’s understanding of telerobotic assembly on a real construction site. Seven adults without construction experience observed a mix of manual and autonomous assembly processes both with and without naturalistic vibrotactile feedback. Qualitative analysis of their survey responses and interviews indicated that all participants had positive responses to this technology and believed it would be beneficial for construction activities.}, author = {Gong, Yijie and Javot, Bernard and Lauer, Anja Patricia Regina and Sawodny, Oliver and Kuchenbecker, Katherine J.}, booktitle = {2023 IEEE World Haptics Conference (WHC)}, doi = {10.1109/WHC56415.2023.10224499}, editor = {Committee, 2023 IEEE World Haptics Conference}, issn = {2835-9534}, month = {07}, pages = {169-175}, title = {Naturalistic Vibrotactile Feedback Could Facilitate Telerobotic Assembly on Construction Sites}, year = 2023 }
2. Gong, Y., Tashiro, N., Javot, B., Lauer, A. P. R., Sawodny, O., & Kuchenbecker, K. J. (2023). AiroTouch: Naturalistic Vibrotactile Feedback for Telerobotic Construction-Related Tasks.
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  @misc{Gong23-ICRAWS-Tasks, address = {London, UK}, author = {Gong, Yijie and Tashiro, Naomi and Javot, Bernard and Lauer, Anja P. R. and Sawodny, Oliver and Kuchenbecker, Katherine J.}, howpublished = {Workshop paper presented at the ICRA Workshop on Communicating Robot Learning across Human-Robot Interaction}, month = {05}, month_numeric = {5}, title = {Airo{T}ouch: Naturalistic Vibrotactile Feedback for Telerobotic Construction-Related Tasks}, year = 2023 }
3. Lauer, A. P. R., Benner, E., Stark, T., Klassen, S., Abolhasani, S., Schroth, L., Gienger, A., Wagner, H. J., Schwieger, V., Menges, A., & Sawodny, O. (2023). Automated on-site assembly of timber buildings on the example of a biomimetic shell. Automation in Construction, 156, 105118. https://doi.org/10.1016/j.autcon.2023.105118
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  @article{LAUER2023105118, abstract = {Automating on-site assembly benefits quality and productivity, reduces physical strain on workers, and counteracts construction worker shortages. This paper develops a concept for automated on-site assembly of high-payload real-scale form-fit timber components and demonstrates the automated process on a real construction site. All methods are explained from the development of two large-scale on-site assembly manipulators and end-effectors for picking up, transporting, placing and connecting components to automated data extraction of the BIM model, path planning, trajectory generation, feedback control, and practical tests with robotic total station measurements. The on-site assembly process is semi-automated, which demonstrates its feasibility. A comparison to a simulated benchmark that exploits all speed limits shows the automation potential. Positioning error sources and approaches for error compensation and avoidance are discussed for future work.}, author = {Lauer, Anja Patricia Regina and Benner, Elisabeth and Stark, Tim and Klassen, Sergej and Abolhasani, Sahar and Schroth, Lukas and Gienger, Andreas and Wagner, Hans Jakob and Schwieger, Volker and Menges, Achim and Sawodny, Oliver}, doi = {https://doi.org/10.1016/j.autcon.2023.105118}, issn = {0926-5805}, journal = {Automation in Construction}, pages = 105118, title = {Automated on-site assembly of timber buildings on the example of a biomimetic shell}, url = {https://www.sciencedirect.com/science/article/pii/S0926580523003783}, volume = 156, year = 2023 }
4. Lauer, A. P. R., Lerke, O., Blagojevic, B., Schwieger, V., & Sawodny, O. (2023). Tool center point control of a large-scale manipulator using absolute position feedback. Control Engineering Practice, 131, 105388. https://doi.org/10.1016/j.conengprac.2022.105388
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  @article{lauer2023toolcenter, abstract = {This work presents a trajectory generation and control scheme for point-to-point motion of a hydraulically driven large-scale manipulator considering various constraints such as joint position, joint velocity, task space, and volumetric flow rate constraints. Trajectories for the absolute position and orientation of the tool center point are generated by a constrained quadratic optimization problem based on differential kinematics. The use of an efficient quadratic problem solver renders the algorithm real-time capable. The control loop uses a high-quality measurement feedback in Cartesian coordinates from a robotic total station network to precisely position the tool center point. The proposed control scheme is compared to a time-optimal solution in simulations. Simulations further show the redundancy exploitation and robustness of the algorithm. Experiments give insight into the tracking quality and show that the achieved positioning accuracy is in the sub-centimeter range.}, author = {Lauer, Anja Patricia Regina and Lerke, Otto and Blagojevic, Boris and Schwieger, Volker and Sawodny, Oliver}, doi = {https://doi.org/10.1016/j.conengprac.2022.105388}, issn = {0967-0661}, journal = {Control Engineering Practice}, pages = 105388, title = {Tool center point control of a large-scale manipulator using absolute position feedback}, url = {https://www.sciencedirect.com/science/article/pii/S0967066122002192}, volume = 131, year = 2023 }
5. Lauer, A. P. R., Lerke, O., Gienger, A., Schwieger, V., & Sawodny, O. (2023). State Estimation with Static Displacement Compensation for Large-Scale Manipulators. 2023 IEEE/SICE International Symposium on System Integration (SII). https://doi.org/10.1109/SII55687.2023.10039134
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  @inproceedings{atlanta2023state, author = {Lauer, Anja Patricia Regina and Lerke, Otto and Gienger, Andreas and Schwieger, Volker and Sawodny, Oliver}, booktitle = {2023 IEEE/SICE International Symposium on System Integration (SII)}, doi = {10.1109/SII55687.2023.10039134}, publisher = {IEEE}, title = {State Estimation with Static Displacement Compensation for Large-Scale Manipulators}, url = {https://doi.org/10.1109/SII55687.2023.10039134}, venue = {Atlanta, GA, USA}, year = 2023 }
6. Lauer, A. P. R., Schürmann, T., Gienger, A., & Sawodny, O. (2023). Force-Controlled On-Site Assembly using Pose-Dependent Stiffness of Large-Scale Manipulators. 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 1–6. https://doi.org/10.1109/CASE56687.2023.10260343
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  @inproceedings{lauer2023forcecontrolled, author = {Lauer, Anja Patricia Regina and Schürmann, Tim and Gienger, Andreas and Sawodny, Oliver}, booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)}, doi = {10.1109/CASE56687.2023.10260343}, pages = {1-6}, publisher = {IEEE}, title = {Force-Controlled On-Site Assembly using Pose-Dependent Stiffness of Large-Scale Manipulators}, url = {https://doi.org/10.1109/CASE56687.2023.10260343}, venue = {Auckland, New Zealand}, year = 2023 }
7. Müller, B., Densborn, S., Kübel, J., & Sawodny, O. (2023). Smooth Path Planning for Redundant Large-Scale Robots using Measured Reference Points. IFAC-PapersOnLine, 56, Article 2. https://doi.org/10.1016/j.ifacol.2023.10.1586
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  @inproceedings{muller2023smooth, author = {Müller, Bernd and Densborn, Simon and Kübel, Johannes and Sawodny, Oliver}, booktitle = {IFAC-PapersOnLine}, doi = {10.1016/j.ifacol.2023.10.1586}, note = {22nd World Congress of the International Federation of Automatic Control (IFAC)}, number = 2, pages = {314-319}, title = {Smooth Path Planning for Redundant Large-Scale Robots using Measured Reference Points}, url = {https://doi.org/10.1016/j.ifacol.2023.10.1586}, venue = {Yokohama, Japan}, volume = 56, year = 2023 }
8. Oberdorfer, M., Schroeter, S., & Sawodny, O. (2023). Adaptive feedforward control using a gaussian process and a recursive least squares algorithm for a hydraulic axial piston pump. 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 329–334. https://doi.org/10.1109/AIM46323.2023.10196278
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  @inproceedings{oberdorfer2023adaptive, affiliation = {Oberdorfer, M (Corresponding Author), Univ Stuttgart, Inst Syst Dynam, D-70563 Stuttgart, Germany. Oberdorfer, Martin; Schroeter, Sebastian; Sawodny, Oliver, Univ Stuttgart, Inst Syst Dynam, D-70563 Stuttgart, Germany.}, author = {Oberdorfer, Martin and Schroeter, Sebastian and Sawodny, Oliver}, booktitle = {2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}, doi = {10.1109/AIM46323.2023.10196278}, eventdate = {2023-06-28/2023-06-30}, eventtitle = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}, isbn = {{978-1-6654-7633-1} and {978-1-6654-7634-8}}, language = {eng}, pages = {329-334}, publisher = {IEEE}, research-areas = {Automation & Control Systems; Engineering; Robotics}, title = {Adaptive feedforward control using a gaussian process and a recursive least squares algorithm for a hydraulic axial piston pump}, unique-id = {WOS:001051263900044}, venue = {Seattle, WA}, year = 2023 }
2022
1. Burns, R. B., Lee, H., Seifi, H., Faulkner, R., & Kuchenbecker, K. J. (2022). Endowing a NAO Robot With Practical Social-Touch Perception. Frontiers in Robotics and AI, 9. https://doi.org/10.3389/frobt.2022.840335
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  @article{10.3389/frobt.2022.840335, abstract = {Social touch is essential to everyday interactions, but current socially assistive robots have limited touch-perception capabilities. Rather than build entirely new robotic systems, we propose to augment existing rigid-bodied robots with an external touch-perception system. This practical approach can enable researchers and caregivers to continue to use robotic technology they have already purchased and learned about, but with a myriad of new social-touch interactions possible. This paper presents a low-cost, easy-to-build, soft tactile-perception system that we created for the NAO robot, as well as participants’ feedback on touching this system. We installed four of our fabric-and-foam-based resistive sensors on the curved surfaces of a NAO’s left arm, including its hand, lower arm, upper arm, and shoulder. Fifteen adults then performed five types of affective touch-communication gestures (hitting, poking, squeezing, stroking, and tickling) at two force intensities (gentle and energetic) on the four sensor locations; we share this dataset of four time-varying resistances, our sensor patterns, and a characterization of the sensors’ physical performance. After training, a gesture-classification algorithm based on a random forest identified the correct combined touch gesture and force intensity on windows of held-out test data with an average accuracy of 74.1%, which is more than eight times better than chance. Participants rated the sensor-equipped arm as pleasant to touch and liked the robot’s presence significantly more after touch interactions. Our promising results show that this type of tactile-perception system can detect necessary social-touch communication cues from users, can be tailored to a variety of robot body parts, and can provide HRI researchers with the tools needed to implement social touch in their own systems.}, author = {Burns, Rachael Bevill and Lee, Hyosang and Seifi, Hasti and Faulkner, Robert and Kuchenbecker, Katherine J.}, doi = {10.3389/frobt.2022.840335}, issn = {2296-9144}, journal = {Frontiers in Robotics and AI}, title = {Endowing a NAO Robot With Practical Social-Touch Perception}, url = {https://www.frontiersin.org/articles/10.3389/frobt.2022.840335}, volume = 9, year = 2022 }
2. Oberdorfer, M., & Sawodny, O. (2022). Modeling and flatness based feedforward control of a hydraulic axial piston pump. 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 540–545. https://doi.org/10.1109/AIM52237.2022.9863384
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  @inproceedings{oberdorfer2022modeling, author = {Oberdorfer, Martin and Sawodny, Oliver}, booktitle = {2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}, doi = {10.1109/AIM52237.2022.9863384}, pages = {540-545}, publisher = {IEEE}, title = {Modeling and flatness based feedforward control of a hydraulic axial piston pump}, url = {https://doi.org/10.1109/AIM52237.2022.9863384}, venue = {Sapporo, Japan}, year = 2022 }
3. Ortenzi, V., Filipovica, M., Abdlkarim, D., Pardi, T., Takahashi, C., Wing, A. M., Di Luca, M., & Kuchenbecker, K. J. (2022). Robot, Pass Me the Tool: Handle Visibility Facilitates Task-oriented Handovers. 2022 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 256–264. https://doi.org/10.1109/HRI53351.2022.9889546
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  @inproceedings{9889546, abstract = {A human handing over an object modulates their grasp and movements to accommodate their partner's capa-bilities, which greatly increases the likelihood of a successful transfer. State-of-the-art robot behavior lacks this level of user understanding, resulting in interactions that force the human partner to shoulder the burden of adaptation. This paper investigates how visual occlusion of the object being passed affects the subjective perception and quantitative performance of the human receiver. We performed an experiment in virtual reality where seventeen participants were tasked with repeatedly reaching to take a tool from the hand of a robot; each of the three tested objects (hammer, screwdriver, scissors) was presented in a wide variety of poses. We carefully analysed the user's hand and head motions, the time to grasp the object, and the chosen grasp location, as well as participants' ratings of the grasp they just performed. Results show that initial visibility of the handle significantly increases the reported holdability and immediate usability of a tool. Furthermore, a robot that offers objects so that their handles are more occluded forces the receiver to spend more time in planning and executing the grasp and also lowers the probability that the tool will be grasped by the handle. Together these findings indicate that robots can more effectively support their human work partners by increasing the visibility of the intended grasp location of objects being passed.}, author = {Ortenzi, Valerio and Filipovica, Maija and Abdlkarim, Diar and Pardi, Tommaso and Takahashi, Chie and Wing, Alan M. and Di Luca, Massimiliano and Kuchenbecker, Katherine J.}, booktitle = {2022 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI)}, doi = {10.1109/HRI53351.2022.9889546}, month = {03}, pages = {256-264}, title = {Robot, Pass Me the Tool: Handle Visibility Facilitates Task-oriented Handovers}, year = 2022 }
4. Parlapanis, C., Müller, D., Frontull, M., & Sawodny, O. (2022). Modeling of the Work Functionality of a Hydraulically Actuated Telescopic Handler. IFAC-PapersOnLine, 55, Article 20. https://doi.org/10.1016/j.ifacol.2022.09.104
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  @inproceedings{parlapanis2022modeling, author = {Parlapanis, Christos and Müller, Daniel and Frontull, Matthias and Sawodny, Oliver}, booktitle = {IFAC-PapersOnLine}, doi = {10.1016/j.ifacol.2022.09.104}, issn = {2405-8963}, note = {10th Vienna International Conference on Mathematical Modelling MATHMOD 2022}, number = 20, pages = {253-258}, publisher = {Elsevier}, title = {Modeling of the Work Functionality of a Hydraulically Actuated Telescopic Handler}, url = {https://doi.org/10.1016/j.ifacol.2022.09.104}, volume = 55, year = 2022 }
5. Parlapanis, C., Müller, D., Frontull, M., & Sawodny, O. (2022). Modeling the Driving Dynamics of a Hydraulic Construction Vehicle. IFAC-PapersOnLine, 55, Article 27. https://doi.org/10.1016/j.ifacol.2022.10.554
  - BibTeX
  BibTeX
  @inproceedings{parlapanis2022modeling, author = {Parlapanis, Christos and Müller, Daniel and Frontull, Matthias and Sawodny, Oliver}, booktitle = {IFAC-PapersOnLine}, doi = {10.1016/j.ifacol.2022.10.554}, note = {9th IFAC Symposium on Mechatronic Systems MECHATRONICS 2022}, number = 27, pages = {454-459}, publisher = {Elsevier}, title = {Modeling the Driving Dynamics of a Hydraulic Construction Vehicle}, url = {https://www.sciencedirect.com/science/article/pii/S2405896322026076}, volume = 55, year = 2022 }
2021
1. Abdlkarim, D., Ortenzi, V., Pardi, T., Filipovica, M., Wing, A. M., Kuchenbecker, K. J., & Di Luca, M. (2021). PrendoSim: Proxy-Hand-Based Robot Grasp Generator. Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO, 1, 60–68. https://doi.org/10.5220/0010549800600068
  - BibTeX
  BibTeX
  @inproceedings{abdlkarim2021prendosim, author = {Abdlkarim, Diar and Ortenzi, Valerio and Pardi, Tommaso and Filipovica, Maija and Wing, Alan M. and Kuchenbecker, Katherine J. and Di Luca, Massimiliano}, booktitle = {Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO}, doi = {10.5220/0010549800600068}, isbn = {978-989-758-522-7}, issn = {2184-2809}, organization = {INSTICC}, pages = {60-68}, publisher = {SciTePress}, title = {PrendoSim: Proxy-Hand-Based Robot Grasp Generator}, url = {https://doi.org/10.5220/0010549800600068}, volume = 1, year = 2021 }
2. Abdlkarim., D., Ortenzi., V., Pardi., T., Filipovica., M., Wing., A. M., Kuchenbecker., K. J., & Di Luca., M. (2021). PrendoSim: Proxy-Hand-Based Robot Grasp Generator. Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO, 60–68. https://doi.org/10.5220/0010549800600068
  - BibTeX
  BibTeX
  @inproceedings{icinco21, author = {Abdlkarim., Diar and Ortenzi., Valerio and Pardi., Tommaso and Filipovica., Maija and Wing., Alan M. and Kuchenbecker., Katherine J. and {Di Luca}., Massimiliano}, booktitle = {Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO,}, doi = {10.5220/0010549800600068}, isbn = {978-989-758-522-7}, issn = {2184-2809}, pages = {60-68}, publisher = {SciTePress}, title = {PrendoSim: Proxy-Hand-Based Robot Grasp Generator}, year = 2021 }
3. Lauer, A. P. R., Blagojevic, B., Lerke, O., Schwieger, V., & Sawodny, O. (2021). Flexible Multibody System Model of a Spider Crane with two Extendable Booms. IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society. https://doi.org/10.1109/IECON48115.2021.9589471
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  BibTeX
  @inproceedings{lauer2021flexible, author = {Lauer, Anja Patricia Regina and Blagojevic, Boris and Lerke, Otto and Schwieger, Volker and Sawodny, Oliver}, booktitle = {IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON48115.2021.9589471}, publisher = {IEEE}, title = {Flexible Multibody System Model of a Spider Crane with two Extendable Booms}, url = {https://doi.org/10.1109/IECON48115.2021.9589471}, venue = {Toronto, ON, Canada}, year = 2021 }
4. Lerke, O., & Schwieger, V. (2021). Analysis of a kinematic real-time robotic total station network for robot control. Journal of Applied Geodesy, 15, Article 3. https://doi.org/doi:10.1515/jag-2021-0016
  - BibTeX
  BibTeX
  @article{LerkeSchwieger+2021+169+188, author = {Lerke, Otto and Schwieger, Volker}, doi = {doi:10.1515/jag-2021-0016}, journal = {Journal of Applied Geodesy}, number = 3, pages = {169--188}, title = {Analysis of a kinematic real-time robotic total station network for robot control}, url = {https://doi.org/10.1515/jag-2021-0016}, volume = 15, year = 2021 }
5. Oei, M., & Sawodny, O. (2021). Attitude estimation for ground vehicles using low-cost sensors with in-vehicle calibration. Proceedings of the Conference on Control Technology and Applications (CCTA), 26–31. https://doi.org/10.1109/CCTA48906.2021.9658775
  - BibTeX
  BibTeX
  @inproceedings{oei2021attitude, author = {Oei, Marius and Sawodny, Oliver}, booktitle = {Proceedings of the Conference on Control Technology and Applications (CCTA)}, doi = {10.1109/CCTA48906.2021.9658775}, pages = {26-31}, title = {Attitude estimation for ground vehicles using low-cost sensors with in-vehicle calibration}, url = {https://doi.org/10.1109/CCTA48906.2021.9658775}, venue = {San Diego, CA, USA}, year = 2021 }
6. Rupp, M. T. M., Valder, R., Knoll, C., & Sawodny, O. (2021). Cascaded Time Delay Compensation and Sensor Data Fusion for Visual Servoing. 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 504–509. https://doi.org/10.1109/SMC52423.2021.9659177
  - BibTeX
  BibTeX
  @inproceedings{rupp2021cascaded, author = {Rupp, Martin Tobias Michael and Valder, Robert and Knoll, Christian and Sawodny, Oliver}, booktitle = {2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)}, doi = {10.1109/SMC52423.2021.9659177}, pages = {504-509}, publisher = {IEEE}, title = {Cascaded Time Delay Compensation and Sensor Data Fusion for Visual Servoing}, url = {https://doi.org/10.1109/SMC52423.2021.9659177}, venue = {Melbourne, Australia}, year = 2021 }
2019
1. Schwieger, V., Menges, A., Zhang, L., & Schwinn, T. (2019). Engineering Geodesy for Integrative Computational Design and Construction. Zeitschrift Für Geodäsie, Geoinformation Und Landmanagement (ZfV), 144, Article 4. https://doi.org/10.12902/zfv-0272-2019
  - BibTeX
  BibTeX
  @article{schwieger2019, author = {Schwieger, Volker and Menges, Achim and Zhang, Li and Schwinn, Tobias}, doi = {10.12902/zfv-0272-2019}, journal = {Zeitschrift für Geodäsie, Geoinformation und Landmanagement (ZfV)}, note = { published, peer-review}, number = 4, pages = {223--230}, title = {Engineering Geodesy for Integrative Computational Design and Construction}, volume = 144, year = 2019 }

OTHER PUBLICATIONS

2024
1. Kerekes, G., & Schwieger, V. (2024). Possibilities and Limitations in the extrinsic Synchronization of Observations from Networks of Robotic Total Stations. FIG Working Week 2024, Accra, Gahna. https://www.fig.net/resources/proceedings/fig_proceedings/fig2024/ppt/ts03d/TS03D_kerekes_schwieger_12449_ppt.pdf
  - BibTeX
  BibTeX
  @inproceedings{kerekes2024possibilities, author = {Kerekes, Gabriel and Schwieger, Volker}, booktitle = {FIG Working Week 2024, Accra, Gahna}, eventtitle = {FIG Working Week 2024, Accra, Gahna}, month = {19–24 May}, organization = {FIG}, title = {Possibilities and Limitations in the extrinsic Synchronization of Observations from Networks of Robotic Total Stations}, url = {https://www.fig.net/resources/proceedings/fig_proceedings/fig2024/ppt/ts03d/TS03D_kerekes_schwieger_12449_ppt.pdf}, year = 2024 }
2. Klassen, S., Stark, T., Wagner, H. J., Gienger, A., Lauer, A. P. R., Sawodny, O., & Menges, A. (2024). Verspann- und Fügegerät zur Verbindung von Gebäudeelementen. In DE-Patent No. DE102023102111. https://patentscope.wipo.int/search/en/detail.jsf?docId=DE436084131&_cid=P10-LZI543-33043-1
  - BibTeX
  BibTeX
  @patent{klassen2024verspann, author = {Klassen, Sergej and Stark, Tim and Wagner, Hans Jakob and Gienger, Andreas and Lauer, Anja Patricia Regina and Sawodny, Oliver and Menges, Achim}, booktitle = {DE-Patent No. DE102023102111}, day = 01, de102023102111 = {undefined}, month = {08}, title = {Verspann- und Fügegerät zur Verbindung von Gebäudeelementen}, url = {https://patentscope.wipo.int/search/en/detail.jsf?docId=DE436084131&_cid=P10-LZI543-33043-1}, year = 2024 }
3. Lauer, A. P. R. (2024). Automatisierte Vor-Ort-Montage von Holzbauteilen mittels zweier hydraulischer Großraummanipulatoren [Shaker Verlag, Düren]. In O. Sawodny (Ed.), Berichte aus dem Institut für Systemdynamik Universität Stuttgart (Vol. 75). http://dx.doi.org/10.18419/opus-13883
  - BibTeX
  BibTeX
  @phdthesis{lauer2024automatisierte, author = {Lauer, Anja Patricia Regina}, booktitle = {Automatisierte Vor-Ort-Montage von Holzbauteilen mittels zweier hydraulischer Großraummanipulatoren}, doi = {http://dx.doi.org/10.18419/opus-13883}, editor = {Sawodny, Oliver}, isbn = {978-3-8440-9378-0}, journal = {Berichte aus dem Institut für Systemdynamik Universität Stuttgart}, month = {02}, publisher = {Shaker Verlag, Düren}, title = {Automatisierte Vor-Ort-Montage von Holzbauteilen mittels zweier hydraulischer Großraummanipulatoren}, volume = 75, year = 2024 }
2023
1. Mohan, M., & Kuchenbecker, K. J. (2023). OCRA: An Optimization-Based Customizable Retargeting Algorithm for Teleoperation. https://www.ais.uni-bonn.de/ICRA2023AvatarWS/contributions/ICRA_2023_Avatar_WS_Mohan.pdf
  - BibTeX
  BibTeX
  @misc{Mohan23-ICRAWS-OCRA, address = {London, UK}, author = {Mohan, Mayumi and Kuchenbecker, Katherine J.}, howpublished = {Workshop paper (3 pages) presented at the ICRA Workshop Toward Robot Avatars}, month = {05}, month_numeric = {5}, title = {OCRA: An Optimization-Based Customizable Retargeting Algorithm for Teleoperation}, url = {https://www.ais.uni-bonn.de/ICRA2023AvatarWS/contributions/ICRA_2023_Avatar_WS_Mohan.pdf}, year = 2023 }
2022
1. Schwieger, V., Zhang, L., Lerke, O., & Balangé, L. (2022). The Research Cluster Integrative Computational Design and Construction (IntCDC) – Current Engineering Geodetic Contribution. XXVII FIG Congress 2022, Warsaw, Poland.
  - BibTeX
  BibTeX
  @inproceedings{schwieger2022research, author = {Schwieger, Volker and Zhang, Li and Lerke, Otto and Balangé, Laura}, booktitle = {XXVII FIG Congress 2022, Warsaw, Poland.}, title = {The Research Cluster Integrative Computational Design and Construction (IntCDC) – Current Engineering Geodetic Contribution}, year = 2022 }

DATA SETS

2024
1. Gong, Y., Mat Husin, H., Erol, E., Ortenzi, V., & Kuchenbecker, K. J. (2024). Data set for ÄiroTouch: enhancing telerobotic assembly through naturalistic haptic feedback of tool vibrations” [Edmond]. https://doi.org/10.17617/3.QEKZ5X
  - BibTeX
  BibTeX
  @dataset{gong2024airotouch, author = {Gong, Yijie and Mat Husin, Haliza and Erol, Ecda and Ortenzi, Valerio and Kuchenbecker, Katherine J.}, doi = {10.17617/3.QEKZ5X}, publisher = {Edmond}, title = {Data set for "AiroTouch: enhancing telerobotic assembly through naturalistic haptic feedback of tool vibrations"}, url = {https://doi.org/10.17617/3.QEKZ5X}, version = {V1}, year = 2024 }
2023
1. Gong, Y., Javot, B., Lauer, A. P. R., Sawodny, O., & Kuchenbecker, K. J. (2023). User Study Dataset for Understanding On-Site Construction Activities with Haptic Perception [Edmond]. https://doi.org/10.17617/3.PAFGCA
  - BibTeX
  BibTeX
  @dataset{3-PAFGCA_2023, author = {Gong, Yijie and Javot, Bernard and Lauer, Anja Patricia Regina and Sawodny, Oliver and Kuchenbecker, Katherine J.}, doi = {10.17617/3.PAFGCA}, publisher = {Edmond}, title = {User Study Dataset for Understanding On-Site Construction Activities with Haptic Perception}, url = {https://doi.org/10.17617/3.PAFGCA}, version = {V1}, year = 2023 }
2022
1. Burns, R. B., Lee, H., Seifi, H., Faulkner, R., & Kuchenbecker, K. J. (2022). User Study Dataset for Endowing a NAO Robot with Practical Social-Touch Perception [Edmond]. https://doi.org/10.17617/3.6w
  - BibTeX
  BibTeX
  @dataset{3.6w_2022, author = {Burns, Rachael Bevill and Lee, Hyosang and Seifi, Hasti and Faulkner, Robert and Kuchenbecker, Katherine J.}, doi = {10.17617/3.6w}, publisher = {Edmond}, title = {{User Study Dataset for Endowing a NAO Robot with Practical Social-Touch Perception}}, url = {https://doi.org/10.17617/3.6w}, version = {V1}, year = 2022 }
2. Burns, R. B., Lee, H., Seifi, H., Faulkner, R., & Kuchenbecker, K. J. (2022). Sensor Patterns Dataset for Endowing a NAO Robot with Practical Social-Touch Perception [Edmond]. https://doi.org/10.17617/3.6x
  - BibTeX
  BibTeX
  @dataset{3.6x_2022, author = {Burns, Rachael Bevill and Lee, Hyosang and Seifi, Hasti and Faulkner, Robert and Kuchenbecker, Katherine J.}, doi = {10.17617/3.6x}, publisher = {Edmond}, title = {{Sensor Patterns Dataset for Endowing a NAO Robot with Practical Social-Touch Perception}}, url = {https://doi.org/10.17617/3.6x}, version = {V2}, year = 2022 }

Dr. Katherine Kuchenbecker

Principal Investigator

Phone: +49 711 6893510

E-Mail

Prof. Dr.-Ing. habil. Dr. h.c. Oliver Sawodny

Board of Directors

Phone: +49 711 685 66302

E-Mail

Prof. Dr.-Ing. habil. Volker Schwieger

Principal Investigator

Phone: +49 711 685 84040

E-Mail

Spider Crane Robotic Platform for On-Site Construction

CYBER-PHYSICAL ON-SITE CONSTRUCTION PROCESSES USING A SPIDER CRANE ROBOTIC PLATFORM

PRINCIPAL INVESTIGATORS

TEAM

PEER-REVIEWED PUBLICATIONS

2024

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2023

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2022

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2021

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2019

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OTHER PUBLICATIONS

2024

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2023

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2022

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DATA SETS

2024

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2023

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2022

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Dr. Katherine Kuchenbecker

Prof. Dr.-Ing. habil. Dr. h.c. Oliver Sawodny

Prof. Dr.-Ing. habil. Volker Schwieger

Cluster of Excellence IntCDC

Audience

Formalities

Services

Organization