Human-Robot Interaction is envisioned as a technique for remote access for on site excavation and landscaping. This is a solution to translate 2D user inputs into systematic set of instruction for the machines to execute.
Human-Robot Interaction is envisioned as a technique for remote access for on site excavation and landscaping. This is a solution to translate 2D user inputs into systematic set of instruction for the machines to execute. The advantage of this technique is that the user can control and instruct the machine to carry out its task by drawing on the site plan. This can be performed directly on site, through the confluence of computer vision & coding.
The workflow involves drawing a shape on paper, recording it with a camera, extracting contours from the video and interpolating the curves. The resulting data is converted into instructions that are transferred to a robotic arm for execution. The project uses depth cameras, end effectors, and a sandbox for remote control of the robotic arm. The curves are sorted into specific chunks using circularity rules, and a hierarchical structure is created to drape the curves into a topography. Tool paths are generated based on height points to create precise and accurate execution of the necessary actions. The process requires technical skill and expertise but can produce highly intricate designs.
Step 1 : The process initiates with a skilled individual drawing a closed curve shape on a sheet of white paper. To capture this activity, a camera is utilized, which then streams the footage to a computer via a reliable USB or Bluetooth connection.
Step 2 : Once the video is recorded, the Python code reads it, removes any distortion, and subsequently outputs the contours of the shape drawn. To create a digital representation of the curve, numerous points are extracted from the contour and sent to Grasshopper using a UDP connection. Once the data reaches Grasshopper, a script is executed that automatically interpolates the curve and performs a fill operation digitally.
Step 3 : After the filling geometry is created, it must be converted into a set of instructions that can be executed by the robot. This is achieved by creating a connection between Grasshopper and Machina Bridge, which then connects to the robot. Once the connection is established, the set of actions required to create the design are transferred to the robotic arm, which subsequently executes them with precision and accuracy.
Human-Robot Interaction is a project of IaaC, Institute for Advanced Architecture of Catalonia
developed during Masters in Advanced Architecture 02 in 2020 by:
Students: Anton Koshelev, Hongyu Wang, Manan Jain, Pratik Borse
Faculty: Alexandre Dubor, Kunaljit Singh Chadha, Angel Munoz
Special thanks to Mr. Jose Garcia del Castillo, the author of Machina Bridge.