MAP - A Mobile Agile Printer Robot for on-site Construction
/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.
Sustarevas, J., Butters, D., Hammid, M., Pawar, V. M., Dwyer, G., & Stuart-Smith, R. “MAP - A Mobile Agile Printer Robot for on-site Construction”. In IEEE Staff (Ed.), 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019: 2441–2448. Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/iros.2018.8593815