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Integrative Computational Design and Construction for Architecture (T3.0)
Research
Associated Projects
AP 29 – AR-Informed Collaborative Timber (Pre-)Fabrication

AR-Informed Collaborative Timber (Pre-)Fabrication

Associated Project 29 (AP 29)

MRK II – FLEXIBLE (PRE-)FABRICATION IN TIMBER CONSTRUCTION VIA AR-INFORMED HUMAN-ROBOT COLLABORATION WITH MULTIPLE MACHINES AND HUMAN CRAFT

The timber prefabrication industry is moving away from craftsmanship towards higher levels of automation. In this context, the role of craftspeople has received little attention. Their ability to identify problems and act flexibly with hand tools continues to make them a valuable asset, especially in the low-volume production of SME prefabrication sites. Developments in robotic technologies and advances in augmented reality (AR) facilitate rich, real-time communication between human and robotic actors, opening up new possibilities for flexible, adaptive and efficient production processes. This project aims to bring together craftspeople and large-scale automation technology through AR-informed human-robot collaboration to carry out complex, collaborative (pre-)fabrication processes.

The research project explores novel flexibilisation strategies for the collaborative production of building components with multiple human and robotic actors. Concepts for safety and work zone systems are also proposed. The approach counters the progressive reduction and exclusion of human craftsmanship contribution in the full-automation paradigm. It aims to develop an agile, competitive manufacturing strategy for organisations that cannot afford extensive automation, and to help craftspeople thrive in value-added activities in the construction industry.

PRINCIPAL INVESTIGATOR
Prof. Achim Menges
Institute for Computational Design and Construction (ICD), University of Stuttgart

RESEARCHERS
Dr. techn. Felix Amtsberg (ICD)
Xiliu Yang (ICD)

PARTNERS
müllerblaustein HolzBauWerke GmbH
BEC GmbH

FUNDING
Bundesinstitut für Bau-, Stadt- und Raumforschung (BBSR) im Bundesamt für Bauwesen und Raumordnung, Innovationsprogramm Zukunft Bau

PEER-REVIEWED PUBLICATIONS

2024
1. Pathmanathan, N., Rau, T., Yang, X., Calepso, A. S., Amtsberg, F., Menges, A., Sedlmair, M., & Kurzhals, K. (2024). Eyes on the Task: Gaze Analysis of Situated Visualization for Collaborative Tasks. 2024 IEEE Conference Virtual Reality and 3D User Interfaces (VR), 785–795. https://doi.org/10.1109/VR58804.2024.00098
  - BibTeX
  BibTeX
  @inproceedings{10494083, author = {Pathmanathan, Nelusa and Rau, Tobias and Yang, Xiliu and Calepso, Aimée Sousa and Amtsberg, Felix and Menges, Achim and Sedlmair, Michael and Kurzhals, Kuno}, booktitle = {2024 IEEE Conference Virtual Reality and 3D User Interfaces (VR)}, doi = {10.1109/VR58804.2024.00098}, pages = {785-795}, title = {Eyes on the Task: Gaze Analysis of Situated Visualization for Collaborative Tasks}, year = 2024 }
2. Yang, X., Amtsberg, F., Sedlmair, M., & Menges, A. (2024). Challenges and potential for human–robot collaboration in timber prefabrication. Automation in Construction, 160, 105333. https://doi.org/10.1016/j.autcon.2024.105333
  - BibTeX
  BibTeX
  @article{YANG2024105333, abstract = {Recent advancements in robotics and human–machine interfaces enable new collaborative procedures that combine the strengths of machines and humans. Compared to existing automation technologies in the timber prefabrication industry, human–robot collaboration (HRC) offers new possibilities for increased flexibility and productivity. This paper aims to map out the challenges and opportunities for HRC within the context of timber prefabrication by constructing a conceptual framework. The framework is based on three pillars: (1) existing HRC theories and frameworks, (2) a literature review of HRC research in robotic timber fabrication, and (3) perspectives of human labour in the timber construction industry. The relevant topics among these three areas are triangulated to construct a conceptual framework that bridges the system-, design-, and human-centred considerations. The framework serves as an organising device to support future explorations and research on human–robot collaboration in robotic timber construction.}, author = {Yang, Xiliu and Amtsberg, Felix and Sedlmair, Michael and Menges, Achim}, doi = {10.1016/j.autcon.2024.105333}, issn = {0926-5805}, journal = {Automation in Construction}, pages = 105333, title = {Challenges and potential for human–robot collaboration in timber prefabrication}, url = {https://www.sciencedirect.com/science/article/pii/S0926580524000694}, volume = 160, year = 2024 }
2023
1. Amtsberg, F., Yang, X., Skoury, L., Sousa Calepso, A., Sedlmair, M., Wortmann, T., & Menges, A. (2023). Multi-Actor Fabrication for Digital Timber Construction. ECAADe Proceedings. https://doi.org/10.52842/conf.ecaade.2023.1.417
  - BibTeX
  BibTeX
  @inproceedings{Amtsberg2023, author = {Amtsberg, Felix and Yang, Xiliu and Skoury, Lior and Sousa Calepso, Aimée and Sedlmair, Michael and Wortmann, Thomas and Menges, Achim}, booktitle = {eCAADe proceedings}, collection = {eCAADe 2023}, doi = {10.52842/conf.ecaade.2023.1.417}, issn = {2684-1843}, publisher = {eCAADe}, series = {eCAADe 2023}, title = {Multi-Actor Fabrication for Digital Timber Construction}, url = {http://dx.doi.org/10.52842/conf.ecaade.2023.1.417}, year = 2023 }
2. Yang, X., Sousa Calepso, A., Amtsberg, F., Menges, A., & Sedlmair, M. (2023). Usability Evaluation of an Augmented Reality System for Collaborative Fabrication between Multiple Humans and Industrial Robots. Proceedings of the 2023 ACM Symposium on Spatial User Interaction, 1–10. https://doi.org/10.1145/3607822.3614528
  - BibTeX
  BibTeX
  @inproceedings{Yang2023, abstract = {Semi-automated timber fabrication tasks demand the expertise and dexterity of human workers in addition to the use of automated robotic systems. In this paper, we introduce a human-robot collaborative system based on Augmented Reality (AR). To assess our approach, we conducted an exploratory user study on a head-mounted display (HMD) interface for task sharing between humans and an industrial robotic platform (N=16). Instead of screen-based interfaces, HMDs allowed users to receive information in-situ, regardless of their location in the workspace and the need to use their hands to handle tools or carry out tasks. We analyzed the resulting open-ended, qualitative user feedback as well as the quantitative user experience data. From the results, we derived challenges to tackle in future implementations and questions that need to be investigated to improve AR-based HRI in fabrication scenarios. The results also suggest that some aspects of human-robot interaction, like communication and trust, are more prominent when implementing a non-dyadic scenario and dealing with larger robots. The study is intended as a prequel to future work into AR-based collaboration between multiple humans and industrial robots.}, address = {New York, NY, USA}, author = {Yang, Xiliu and Sousa Calepso, Aimée and Amtsberg, Felix and Menges, Achim and Sedlmair, Michael}, booktitle = {Proceedings of the 2023 ACM Symposium on Spatial User Interaction}, day = 13, doi = {10.1145/3607822.3614528}, isbn = {9798400702815}, location = {<conf-loc>, <city>Sydney</city>, <state>NSW</state>, <country>Australia</country>, </conf-loc>}, month = {10}, pages = {1–10}, publisher = {Association for Computing Machinery}, series = {SUI '23}, title = {Usability Evaluation of an Augmented Reality System for Collaborative Fabrication between Multiple Humans and Industrial Robots}, url = {https://doi.org/10.1145/3607822.3614528}, year = 2023 }
2022
1. Yang, X., Amtsberg, F., Skoury, L., Wagner, H. J., & Menges, A. (2022). Vizor, Facilitating Cyber-physical Workflows in Prefabrication through Augmented Reality. CAADRIA Proceedings. https://doi.org/10.52842/conf.caadria.2022.2.141
  - BibTeX
  BibTeX
  @inproceedings{yang2022vizor, author = {Yang, Xiliu and Amtsberg, Felix and Skoury, Lior and Wagner, Hans Jakob and Menges, Achim}, booktitle = {{CAADRIA} proceedings}, doi = {10.52842/conf.caadria.2022.2.141}, publisher = {{CAADRIA}}, title = {Vizor, Facilitating Cyber-physical Workflows in Prefabrication through Augmented Reality}, url = {https://doi.org/10.52842%2Fconf.caadria.2022.2.141}, year = 2022 }

Achim Menges

Spokesperson Cluster of Excellence IntCDC

Phone: +49 711 685 82786

E-Mail

AR-Informed Collaborative Timber (Pre-)Fabrication

MRK II – FLEXIBLE (PRE-)FABRICATION IN TIMBER CONSTRUCTION VIA AR-INFORMED HUMAN-ROBOT COLLABORATION WITH MULTIPLE MACHINES AND HUMAN CRAFT

PEER-REVIEWED PUBLICATIONS

2024

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2023

BibTeX

BibTeX

2022

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Achim Menges

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