MAP - A Mobile Agile Printer Robot for on-site Construction
Julius Sustarevas, Daniel Butters, Mohammad Hammid, George Dwyer, Robert Stuart-Smith, Vijay M. Pawar
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.
BibTeX
@inproceedings{iros2018_mapamobileagilep,
title = {MAP - A Mobile Agile Printer Robot for on-site Construction},
author = {Julius Sustarevas and Daniel Butters and Mohammad Hammid and George Dwyer and Robert Stuart-Smith and Vijay M. Pawar},
booktitle = {IROS 2018},
year = {2018}
}