Advancing Sustainable Construction: Discrete Modular Systems & Robotic Assembly

Yuxi Liu, Boris Belousov, Tim Schneider, Kevin Harsono, Tsung-Wei Cheng, Shen-Guan Shih, Oliver Tessmann () and Jan Peters
Additional contact information
Yuxi Liu: Digital Design Unit (DDU), Technical University of Darmstadt, El-Lissitzky-Straße 1, 64287 Darmstadt, Germany
Boris Belousov: German Research Center for AI (DFKI), Landwehrstr. 50A, 64293 Darmstadt, Germany
Tim Schneider: Intelligent Autonomous Systems (IAS), Technical University of Darmstadt, Hochschulstr. 10, 64289 Darmstadt, Germany
Kevin Harsono: Department of the Architecture, National Taiwan University of Science and Technology, Keelung Road 43, Section 4, Taipei 10607, Taiwan
Tsung-Wei Cheng: Department of the Architecture, National Taiwan University of Science and Technology, Keelung Road 43, Section 4, Taipei 10607, Taiwan
Shen-Guan Shih: Department of the Architecture, National Taiwan University of Science and Technology, Keelung Road 43, Section 4, Taipei 10607, Taiwan
Oliver Tessmann: Digital Design Unit (DDU), Technical University of Darmstadt, El-Lissitzky-Straße 1, 64287 Darmstadt, Germany
Jan Peters: Intelligent Autonomous Systems (IAS), Technical University of Darmstadt, Hochschulstr. 10, 64289 Darmstadt, Germany

Sustainability, 2024, vol. 16, issue 15, 1-25

Abstract: This research explores the SL-Block system within an architecture framework by embracing building modularity, combinatorial design, topological interlocking, machine learning, and tactile sensor-based robotic assembly. The SL-Block, composed of S and L-shaped tetracubes, possesses a unique self-interlocking feature that allows for reversible joining and the creation of various 2D or 3D structures. In architecture modularity, the high degree of reconfigurability and adaptability of the SL-Block system introduces a new element of interest. Unlike modularization strategies that emphasize large-scale volumetric modules or standardized building components, using small-scale generic building blocks provides greater flexibility in maximizing design variations and reusability. Furthermore, the serial repetition and limited connectivity of building elements reduce the efforts required for bespoke manufacturing and automated assembly. In this article, we present our digital design and robotic assembly strategies for developing dry-jointed modular construction with SL-Blocks. Drawing on combinatorics and graph theory, we propose computational design methods that can automatically generate hierarchical SL-Block assemblies from given shapes. To address the physical complexities of contact-rich assembly tasks, we develop robotics using two distinct methods: pre-programmed assembly and sensor-based reinforcement learning. Through a series of demonstrators, we showcase the ability of SL-Blocks not only to reconfigure conventional building tectonics but also to create new building configurations.

Keywords: prefabrication; modularity for reuse; digital and discrete; interlocking puzzle; combinatorial optimization; robotic assembly; perception and learning; virtual reality (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2024
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2071-1050/16/15/6678/pdf (application/pdf)
https://www.mdpi.com/2071-1050/16/15/6678/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jsusta:v:16:y:2024:i:15:p:6678-:d:1449821

Access Statistics for this article

Sustainability is currently edited by Ms. Alexandra Wu

More articles in Sustainability from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().