Multi-Robotic Prefabrication

Our goal is to develop methods and techniques for the cooperative robotic prefabrication of bespoke spatial structures. Using industrial robotic arms enables building members to be precisely moved and placed at a designated location according to a digital blueprint. One robot can act as a support for the built structure, while a second one places a new part, eliminating the need for additional scaffolding for complex free-form geometries and decreasing tolerances between neighbouring members.

In order to design feasible volumetric structures and to address multiple interrelating structural, geometrical and fabrication-specific constraints, this research specifically focuses on algorithmic design tools to define spatial structures, fabrication simulation and path planning and multi-robotic localisation and manipulation.

Specific goals include the implementation and validation of multi-robotic assembly methods for metal and timber structures, the development of a computational workflow to characterise spatial structures buildable by robots, and the full-scale construction of prefabricated spatial timber housing units for DFAB HOUSE.

Principal Investigators: Prof. Fabio GramazioProf. Matthias Kohler Prof. Dr. Jonas Buchli

Main Collaborators: Stefana Parascho, Augusto Gandía, Gonzalo Casas, Andreas Thoma, Lukas Stadelmann

Extended Collaborators: Dr. Aleksandra Anna Apolinarska, Dr. Thomas Kohlhammer, Dr. Ammar Mirjan, Prof. Dr. Stelian Coros, Thomas Wehrle, Michael Lyrenmann, Philippe Fleischmann


Parascho, Stefana, Augusto Gandia, Ammar Mirjan, Fabio Gramazio and Matthias Kohler. 2017. “Cooperative Fabrication of Spatial
Metal Structures.” In Fabricate, 24-29. London: UCL Press.

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