Spider Crane Robotic Platform with Human-Machine Co-Agency

Research Project 16-3 (RP 16-3)

IntCDC Research Project 16-3 – Spider Crane Robotic Platform with Human-Machine Co-Agency

SPIDER CRANE ROBOTIC PLATFORM INCLUDING HUMAN-MACHINE CO-AGENCY IN ROBOTIC CONSTRUCTION AND RENOVATION IN UNSTRUCTURED SITE ENVIRONMENTS

The project develops large-scale cyber-physical construction systems that enable seamless collaboration between human expertise and autonomous machines in complex and dynamic construction environments. At its core is an adaptive human–robot interaction framework for a spider crane robot platform designed to support shared control while advancing machine autonomy on construction sites characterized by constant change, uncertainty, and demanding physical conditions.

The research focuses on both sides of human–machine co-agency between human operators and mobile manipulators. On the one hand, it investigates human-centred interaction concepts for embodied collaboration, including gesture-based input, multimodal feedback, and human-guided learning across different levels of autonomy. On the other hand, it advances autonomous assembly and disassembly strategies with off-road locomotion in rough terrains, including deployment of outriggers and tilting stability, together with collaborative planning and control algorithms.

The framework will be developed and validated using serial façade renovation in the existing building stock as an exemplary application scenario. This use case provides a particularly demanding benchmark due to the large size of components, tight installation tolerances and safety-critical handling at height and near edges.

By addressing these challenges, the project contributes to a new generation of adaptive construction robotics in which human creativity, intuition, and decision-making are productively combined with the precision, strength, and autonomy of robotic systems.

PRINCIPAL INVESTIGATORS

Univ.-Prof. Dr. rer. oec. habil. Katharina Hölzle, MBA
Principal Investigator
Institute for Human Factors and Technology Management (IAT)
Cluster of Excellence IntCDC

Prof. Dr.-Ing. habil. Dr. h.c. Oliver Sawodny
Board of Directors
Institute for System Dynamics (ISYS)
Cluster of Excellence IntCDC

RESEARCHERS

Jeremias Lange
Doctoral Researcher
Institute for Human Factors and Technology Management (IAT)
Cluster of Excellence IntCDC

M. Sc. Philipp Wasserloos
Doctoral Researcher
Institute for System Dynamics (ISYS)
Cluster of Excellence IntCDC

PEER-REVIEWED PUBLICATIONS

  1. 2026

    1. Shevchuk, S., Kerekes, G., & Schwieger, V. (2026). Pose Determination by Single Image-Assisted Total Station for Timber Construction Elements. Allgemeine Vermessungsnachrichten (AVN), 133, 75–90. https://doi.org/10.14627/avn.2026.2.1
    2. Wehmeier, M., Parlapanis, C., & Sawodny, O. (2026). Modeling and identification of a hydraulic poppet valve. Control Engineering Practice, 168, 106710. https://doi.org/10.1016/j.conengprac.2025.106710
    3. Wolff, F., Rakipi, A., Müller, B., & Sawodny, O. (2026). Application of Dynamic Tip-Over Stability Margins to Reach Trucks. IEEE 19th International Conference on Advanced Motion Control (AMC).

  2. 2025

    1. Ariaux, N., Wasserloos, P., Gienger, A., & Sawodny, O. (2025). Real-Time Vision-Based Target Pose Estimation for Robotic Screwing in Timber Construction Using Edge AI. 1st IFAC Workshop on Engineering and Architectures of Automation Systems (EAAS 2025).
    2. Bechert, S., Schlopschnat, C., Göbel, M., Aicher, S., Menges, A., & Knippers, J. (2025). livMatS biomimetic shell: Structural advancements of segmented timber shells towards permanent building constructions. Structures, 79, 109524. https://doi.org/10.1016/j.istruc.2025.109524
    3. Stein, C., Gienger, A., Sawodny, O., & Tarín, C. (2025). Tool Center Point Path Planning and Robot Allocation Using Neural Models of Inverse Kinematics and Reachability. IEEE Transactions on Robotics.

  3. 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).
    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
    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).
    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
    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
    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
    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

  4. 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
    2. 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
    3. 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
    4. 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
    5. 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
    6. 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
    7. 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

  5. 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
    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
    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
    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
    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

  6. 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
    2. 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
    3. 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
    4. 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
    5. 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

  7. 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

OTHER PUBLICATIONS

  1. 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
    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
    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

  2. 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

  3. 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.

DATA SETS

  1. 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

  2. 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

  3. 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
    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

    

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