@INBOOK{20.500.11850/456080, isbn = {978-3-0356-2014-6}, doi = {10.1515/9783035620238-008}, year = {2020-12-16}, booktitle = {Research Culture in Architecture: Cross-Disciplinary Collaboration}, editor = {Leopold, Cornelie and Robeller, Christopher and Weber, Ulrike}, author = {Thoma, Andreas and Jenny, David and Helmreich, Matthias and Gandia, Augusto and Gramazio, Fabio and Kohler, Matthias}, abstract = {This research is developed within the Master of Advanced Studies in Architecture and Digital Fabrication program at ETH Zurich. This paper presents a novel constructive system made solely of wood, enabled by a cooperative robotic fabrication process. The constructive system builds on recent developments in dowel-laminated timber (DLT) as well as advances made in the field of digital fabrication. The paper demonstrates through three experiments how the design space of the dowel-laminated timber constructive system can be expanded, through the implementation of cooperative robotic arms, from purely planar geometries to more complex and curved ones. To connect the individual slats, two types of dowel connectors were tested: the fluted dowel and the dry dowel. The fabrication process employs a large robotic setup allowing for the prefabrication of full-scale building elements and enables a method of in place fabrication that counteracts the inaccuracy buildup that occurs during assembly. Two custom robot end-effectors for gripping and drilling timber slats are also introduced. Finally, a conclusion and outlook as to what the next steps in this research could be are presented.}, language = {en}, address = {Basel}, publisher = {Birkäuser}, title = {Cooperative Robotic Fabrication of Timber Dowel Assemblies}, PAGES = {77 - 88} }

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@INPROCEEDINGS{20.500.11850/348552, isbn = {978-3-030-29828-9}, doi = {10.1007/978-3-030-29829-6_11}, year = {2019}, booktitle = {Impact: Design With All Senses}, editor = {Gengnagel, Christoph and Baverel, Olivier and Burry, Jane and Ramsgaard Thomsen, Mette and Weinzierl, Stefan}, author = {Mitropoulou, Ioanna and Ariza, Inés and Bernhard, Mathias and Dillenburger, Benjamin and Gramazio, Fabio and Kohler, Matthias}, keywords = {Volumetric modelling; Fabrication-aware design; Additive manufacturing; Collision control}, language = {en}, address = {Cham}, publisher = {Springer}, title = {Numerical Sculpting - Volumetric Modelling Tools for in place Spatial Additive Manufacturing}, PAGES = {132 - 145}, Note = {Design Modelling Symposium, Impact: Design with All Senses; Conference Location: Berlin, Germany; Conference Date: September 21-25, 2019} }

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@INPROCEEDINGS{20.500.11850/328442, author = {Ercan, Selen and Meier, Sandro and Gramazio, Fabio and Kohler, Matthias}, publisher = {International Association on Automation and Robotics in Construction}, year = {2019}, language = {en}, copyright = {In Copyright - Non-Commercial Use Permitted}, keywords = {On-site construction; Localization; External measurement systems}, size = {8 p.}, booktitle = {2019 Proccedings of the 36th ISARC}, DOI = {10.3929/ethz-b-000328442}, title = {Automated Localization of a Mobile Construction Robot with an External Measurement Device}, Note = {36th International Symposium on Automation and Robotics in Construction (ISARC 2019); Conference Location: Banff, Canada; Conference Date: May 21-24, 2019} }

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@article{article, author = {Grönquist, Philippe and Schnider, Thomas and Thoma, Andreas and Gramazio, Fabio and Kohler, Matthias and Burgert, Ingo and Rüggeberg, Markus}, year = {2019}, month = {01}, pages = {}, title = {Investigations on densified beech wood for application as a swelling dowel in timber joints}, journal = {Holzforschung}, doi = {10.1515/hf-2018-0106} }

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