Gramazio Kohler Research
Open Positions
Human-Machine Collaboration
Algorithmic Details
Thin Folded Concrete Structures
Deep Timber
Robotic Fabrication Simulation for Spatial Structures
Jammed Architectural Structures
Data Driven Acoustic Design
On-site Robotic Construction
Mesh Mould Metal
Smart Dynamic Casting and Prefabrication
Spatial Timber Assemblies
Robotic Lightweight Structures
Mesh Mould and In situ Fabricator
Complex Timber Structures
Spatial Wire Cutting
Robotic Integral Attachment
Mobile Robotic Tiling
YOUR Software Environment
Aerial Construction
Smart Dynamic Casting
Topology Optimization
Mesh Mould
Acoustic Bricks
Additive processes
Room acoustics

Algorithmic Details, ETH Zurich, 2017-2020
PhD Research Project
This research introduces a novel construction method that links robotic assembly and in place 3D printing. Rather than producing custom joints in a separate prefabrication process, the algorithmic detailing approach enables the creation of highly specialized connection details that are manufactured directly onto standardized building members during their assembly process. Challenging the current fashion of highly predetermined joints in digital construction, detailing in place offers an adaptive fabrication method, enabling the tailoring of connection details addressing specific architectural conditions. The algorithmic detailing strategy is explored through robotic wire arc additive manufacturing (WAAM), a metal 3D printing technique based on MIG welding. The robotic process coupled with sensing strategies allows for local control of the detail geometry enabling the fabrication of connections that can compensate material and construction tolerances. Motivated by increasing new applications of robots for building architectural scale structures, this research aims to contribute with new concepts and methods for adaptive building by enabling the design and fabrication of locally differentiated architectural assemblies.


Ariza, Inés and Mirjan, Ammar and Gandia, Augusto and Casas, Gonzalo and Cros, Samuel and Gramazio, Fabio and Kohler, Matt-hias. "In Place Detailing. Combining 3D printing and robotic assem-bly." In ACADIA 2018 Recalibration: On Imprecision and Infidelity. Proceedings of the 38th Annual Conference of the Association for Computer Aided Design in Architecture, Anzalone, Philip and Del Signore, Marcella and Wit, Andrew J., 312–321. Association for Computer Aided Design in Architecture (ACADIA), 2018.
Gramazio Kohler Research, ETH Zurich

In cooperation with: NCCR Digital Fabrication, ETH Zurich
Collaborators: Inés Ariza (project lead), Dr. Ammar Mirjan, Philippe Fleischmann, Michael Lyrenmann, Dr. Romana Rust

Copyright 2016, Gramazio Kohler Research, ETH Zurich, Switzerland
Gramazio Kohler Research
Chair of Architecture and Digital Fabrication
ETH Zürich HIB E 43
Stefano-Franscini Platz 1 / CH-8093 Zurich

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