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MAP - A Mobile Agile Printer Robot for on-site Construction

Sustarevas, J; Butters, D; Hammid, M; Dwyer, G; Stuart-Smith, R; Pawar, VM; (2019) MAP - A Mobile Agile Printer Robot for on-site Construction. In: Maciejewski, AA and Okamura, A and Bicchi, A and Stachniss, C and Song, DZ and Lee, DH and Chaumette, F and Ding, H and Li, JS and Wen, J and Roberts, J and Masamune, K and Chong, NY and Amato, N and Tsagwarakis, N and Rocco, P and Asfour, T and Chung, WK and Yasuyoshi, Y and Sun, Y and Maciekeski, T and Althoefer, K and AndradeCetto, J and Chung, WK and Demircan, E and Dias, J and Fraisse, P and Gross, R and Harada, H and Hasegawa, Y and Hayashibe, M and Kiguchi, K and Kim, K and Kroeger, T and Li, Y and Ma, S and Mochiyama, H and Monje, CA and Rekleitis, I and Roberts, R and Stulp, F and Tsai, CHD and Zollo, L, (eds.) Proceedings of 25th IEEE/RSJ International Conference on Intelligent Robots and Systems 2018 (IROS). (pp. pp. 2441-2448). IEEE Green open access

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Abstract

In this paper, we present a Mobile Agile Printer (MAP) construction robot; a highly agile, 4-legged, omnidirectional robot capable of 3D printing large structures. To overcome dynamic challenges when operating within an outdoors construction site, MAP incorporates a high-DoF 3D printing system connected to a mobile platform with novel features designed to enable disturbance rejection and live adaption to the robot’s pose. In doing so, we demonstrate the benefits of designing construction robots with a focus on agility, a compact working volume and ability to operate within a potentially unlimited workspace. Performance tests were conducted showing smooth omni-directional motion as a key requirement for maintaining low 3D printing trajectory deviations over a large volume. In doing so, we show that MAP has the ability to construct in new ways more sensitive to its environment, context and concurrent on-site operations.

Type: Proceedings paper
Title: MAP - A Mobile Agile Printer Robot for on-site Construction
Event: 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Location: Madrid, SPAIN
Dates: 01 October 2018 - 05 October 2018
Open access status: An open access version is available from UCL Discovery
Publisher version: https://doi.org/10.1109/IROS.2018.8593673
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: http://discovery.ucl.ac.uk/id/eprint/10072125
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