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
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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. |
| Keywords: | Three-dimensional printing, Wheels, Legged locomotion, Printers |
| UCL classification: | UCL 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: | https://discovery-pp.ucl.ac.uk/id/eprint/10072125 |
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