Robust Robotic Assembly of Reusable, Rectangular Blocks
Zhongming Huang, Hongyu Yao, Haocheng Peng, Shih-Ming Lin, Kirstin Petersen, Nils Napp
Abstract
This paper investigates the importance and design implications for use of rectangular blocks in collective robotic construction systems with distributed control. Specifically, we introduce an automated solver for optimizing the overlaps in user-specified structures; a new robot design capable of manipulating, fastening, and climbing over blocks as wide as the robot; detailed analysis of robot primitives and demonstration of rectilinear, curved, cantilever, and corbeled arch structures; and results from a physics simulator showing how overlaps improve structural integrity when the depositions are noisy. This work represents an important step towards efficient and versatile large-scale robotic construction.
BibTeX
@inproceedings{iros2025_robustroboticass,
title = {Robust Robotic Assembly of Reusable, Rectangular Blocks},
author = {Zhongming Huang and Hongyu Yao and Haocheng Peng and Shih-Ming Lin and Kirstin Petersen and Nils Napp},
booktitle = {IROS 2025},
year = {2025}
}