Design and Simulation
Image Classification for Robotic Plastering with Convolutional
Neural Network 3
Joshua Bard, Ardavan Bidgoli, and Wei Wei Chi
Designing Natural Wood Log Structures with Stochastic
Assembly and Deep Learning 16
Kaicong Wu and Axel Kilian
Mockup Method: Heuristic Architectural Fragments
as Central Models in Architectural Design 31
Kevin Pazik
Haptic Programming 44
Sven Stumm and Sigrid Brell Cockcan
Towards Automatic Path Planning for Robotically Assembled
Spatial Structures 59
Augusto Gandia, Stefana Parascho, Romana Rust, Gonzalo Casas,
Fabio Gramazio, and Matthias Kohler
Communication Landscapes 74
Giovanni Betti, Saqib Aziz, Andrea Rossi, and Oliver Tessmann
Towards Visual Feedback Loops for Robot-Controlled
Additive Manufacturing 85
Sheila Sutjipto, Daniel Tish, Gavin Paul, Teresa Vidal-Calleja,
and Tim Schork
Function Representation for Robotic 3D Printed Concrete 98
Shajay Bhooshan, Johannes Ladinig, Tom Van Mele and Philippe Block
Material and Processes
Thermally Informed Robotic Topologies: Profile-30-Printing for the
Robotic Construction of Concrete Panels, Thermally Tuned
Through High Resolution Surface Geometry 113
Joshua Bard, Dana Cupkova, Newell Washburn, and Garth Zeglin
Hold Up: Machine Delay in Architectural Design 126
Zach Cohen
Concrete Fabrication by Digitally Controlled Injection 139
Ryan Wei Shen Chee, Wei Lin Tan, Wei Hem Goh, Felix Amtsberg, and Stylianos Dritsas
Towards the Development of Fabrication Machine Species for Filament Materials 152
Maria Y ablonina and Achim Menges Spatial Print Trajectory 167
Sulaiman AlOthman, Hyeonji Claire Im, Francisco Jung,
and Martin Bechthold
An Additive and Subtractive Process for Manufacturing with Natural Composites 181
Stylianos Dritsas, Y adunund Vijay, Marina Dimopoulou,
Naresh Sanadiya, and Javier G. Fernandez
Hard+ Soft: Robotic Needle Felting for Nonwoven Textiles 192
Wes McGee, Tsz Yan Ng, and Asa Peller
Construction and Structure
SCRIM - Sparse Concrete Reinforcement in Meshworks
Phil Ayres, Wilson Ricardo Leal da Silva, Paul Nicholas,
Thomas Juul Andersen, and Johannes Portielje Rauf! Greisen 207
Versatile Robotic Wood Processing Based on Analysis of Parts
Processing of Japanese Traditional Wooden Buildings 221
Hiroki Takabayashi, Keita Kado, and Gakuhito Hirasawa
Form Finding of Nexorades Using the Translations Method
Tristan Gobin, Romain Mesnil, Cyril Douthe, Pierre Margerit,
Nicolas Ducoulombier, Leo Demont, Hocine Delmi, and Jean-Franois Caron 232
Sub-Additive 30 Printing of Optimized Double Curved Concrete Lattice Structures 242
Christopher A. Battaglia, Martin Fields Miller and Sasa Zivkovic
Investigations on Potentials of Robotic Band-Saw Cutting in Complex Wood Structures 256
Hua Chai and Philip F. Yuan
Direct Deposition of Jammed Architectural Structures 270
Petrus Aejmelaeus-Lindstrom, Gergana Rusenova, Ammar Mirjan,
Fabio Gramazio, and Matthias Kohler Control and Fabrication
FIBERBOTS: Design and Digital Fabrication of Tubular Structures Using Robot Swarms 285
Markus Kayser, Levi Cai, Christoph Bader, Sara Falcone,
Nassia lnglessis, Barrak Darweesh, Joao Costa, and Neri Oxman
InFormed Ceramics: Multi-axis Clay 3D Printing on Freeform Molds 297
Minjae Ko, Doughan Shin, Hyunguk Ahn, and Hyungwoo Park
Altered Behaviour: The Performative Nature of Manufacture
Chainsaw Choreographies + Bandsaw Manoeuvres 309
Emmanuel Vercruysse, Zachary Mollica, and Pradeep Devadass
Cyber Physical Macro Material as a UAV [re]Configurable Architectural System 320
Dylan Wood, Maria Yablonina, Miguel Aflalo, Jingcheng Chen,
Behrooz Tahanzadeh, and Achim Menges Adaptive Robotic Carving 336
Giulio Brugnaro and Sean Hanna Multimode Robotic Materialization 349
Sina Mostafavi, Benjamin N. Kemper, and Daniel L. Fischer
Digital Composites: Robotic 3D Printing of Continuous Carbon
Fiber-Reinforced Plastics for Functionally-Graded Building Components 363
Hyunchul Kwon, Martin Eichenhofer, Thodoris Kyttas,
and Benjamin Dillenburger
Robotic Extrusion of Architectural Structures
with Nonstandard Topology 377
Yijiang Huang, Josephine Cartensen, Lavender Tessmer and Caitlin Mueller
On-Site Robotics for Sustainable Construction 390
Alexandre Dubor, Jean-Baptiste Izard, Edouard Cabay,
Aldo Sollazzo, Areti Markopoulou, and Mariola Rodriguez
Application and Practice
Tailored Structures, Robotic Sewing of Wooden Shells 405
Martin E. Alvarez, Erik E. Martinez-Parachini, Ehsan Baharlou,
Oliver David Krieg, Tobias Schwinn, Lauren Vasey, Chai Hua,
Achim Menges, and Philip F. Yuan
Dynamic Robotic Slip-Form Casting and Eco-Friendly Building Fa~ade Design 421
Lei Yu, Dan Luo, and Weiguo Xu
Ceramic Constellation I Robotically Printed Brick Specials 434
Christian J. Lange, Donn Holohan, and Holger Kehne
Robotic Fabrication of Bespoke Timber Frame Modules 447
Andreas Thoma, Arash Adel, Matthias Helmreich, Thomas Wehrle,
Fabio Gramazio, and Matthias Kohler
Large-Scale Additive Manufacturing of Ultra-High-Performance
Concrete of Integrated Formwork for Truss-Shaped Pillars 459
Nadja Gaudilliere, Romain Duballet, Charles Bouyssou, Alban Mallet,
Philippe Roux, Mahriz Zakeri, and Justin Dirrenberger
Realization of Topology Optimized Concrete Structures Using Robotic
Abrasive Wire-Cutting of Expanded Polystyrene Formwork 473
Asbj0m S0ndergaard, Jelle Feringa, Florin Stan, and Dana Maier The Brick Labyrinth 489
Luka Piskorec, David Jenny, Stefana Parascho, Hannes Mayer,
Fabio Gramazio, and Matthias Kohler
Author Index 501