Cody Tucker
ABSTRACT
This research presents a collaborative multi-robot strategy for the distributed fabrication of Spatial Lacing - a novel system of lightweight, multi-topology fiber structures enabled by parallel manipulation of filament materials. The parallelized fabrication logic, which takes inspiration from textile production methods, is inherently different from existing construction techniques using continuous filaments and poses new challenges for fabrication. The paper proposes a distributed cyber-physical platform with mobile robots that can exceed size and flexibility limitations of industrial machinery. A hybrid behavior-based control schema is developed where robotic behaviors are abstracted from the traditional textile craft of bobbin lace-making and adapted for robotic execution through coordinated collaborative action sequences, creating a new robotic action space for filament structures. Parallel task execution, real-time sensor feedback, and the coordination of multiple distributed agents is achieved through a multi-threaded software architecture. This paper focuses on the development of the cyber-physical fabrication platform including custom robotic hardware, derivation of robotic behaviors, task generation and coordination, and multi-agent communication protocols. The research finds its point of departure from textile craft processes and demonstrates new potentials in construction with filament materials when multi-robot systems perform coordinated tasks that depend on simultaneous actions. It culminates in the choreography of two mobile robots performing actions required to create a Spatial Lacing node in a parallel, coordinated fashion.
Supplemental Material
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Index Terms
- A Collaborative Multi-robot Platform for the Distributed Fabrication of Three-dimensional Fibrous Networks (Spatial Lacing)
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