Autonomous excavator constructs a 6-meter-high dry-stone wall
IMAGE:
THE MENZI MUCK PICKS AND SCANS EACH BOULDER TO BE PLACED IN THE CORRECT POSITION, CIRCULARITY PARK IN OBERGLATT, EBERHARD AG, 2021-2022
view moreCREDIT: © GRAMAZIO KOHLER RESEARCH, ETH ZURICH, EBERHARD AG. PHOTO: MARC SCHNEIDER.
ETH Zurich researchers deployed an autonomous excavator, called HEAP, to build a six metre-high and sixty-five-metre-long dry-stone wall. The wall is embedded in a digitally planned and autonomously excavated landscape and park.
The team of researchers included: Gramazio Kohler Research, the Robotics Systems Lab, Vision for Robotics Lab, and the Chair of Landscape Architecture. They developed this innovative design application as part of the National Centre of Competence in Research for Digital Fabrication (NCCR dfab).
Using sensors, the excavator can autonomously draw a 3D map of the construction site and localise existing building blocks and stones for the wall’s construction. Specifically designed tools and machine vision approaches enable the excavator to scan and grab large stones in its immediate environment. It can also register their approximate weight as well as their centre of gravity. An algorithm determines the best position for each stone, and the excavator then conducts the task itself by placing the stones in the desired location. The autonomous machine can place 20 to 30 stones in a single consignment – about as many as one delivery could supply.
The Menzi Muck picks and scans each boulder to be placed in the correct position, Circularity Park in Oberglatt, Eberhard AG, 2021-2022.
The Menzi Muck picks and scans each boulder to be placed in the correct position, Circularity Park in Oberglatt, Eberhard AG, 2021-2022.
Drone view of the autonomous excavator HEAP, Circularity Park in Oberglatt, Eberhard AG, 2021-2022
Computational planning and stone placement using the autonomous excavator HEAP, Circularity Park in Oberglatt, Eberhard AG, 2021-2022.
CREDIT
© Gramazio Kohler Research, ETH Zurich, Eberhard AG. Photo: Ryan Luke Johns.
Reference
Johns RL, Wermelinger M, Mascaro R, Jud D, Hurkxkens I, Vasey L, Chli M, Gramazio F, Kohler M, Hutter M: A framework for robotic excavation and dry stone construction using on-site materials, Science Robotics, 22 November 2023, DOI: 10.1126/scirobotics.abp9758
Further information
https://gramaziokohler.arch.ethz.ch/web/d/forschung/382.html
https://rsl.ethz.ch/robots-media/heap.html
https://girot.arch.ethz.ch/events-conferences/robotic-embankment-prototype
JOURNAL
Science Robotics
DOI
METHOD OF RESEARCH
Experimental study
SUBJECT OF RESEARCH
Not applicable
ARTICLE TITLE
A framework for robotic excavation and dry stone construction using on-site materials
ARTICLE PUBLICATION DATE
22-Nov-2023
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