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• W2600581678 abstract "Predominately, robotic construction is applied as prefabrication in structured indoor environments with standard building materials. Our work, on the other hand, focuses on utilizing irregular materials found on-site, such as rubble and rocks, for autonomous construction. We present a pipeline that detects randomly placed objects in a scene that are used by our next best stacking pose searching method employing gradient descent with a random initial orientation, exploiting a physics engine. This approach is validated in an experimental setup using a robotic manipulator by constructing balancing vertical stacks without mortars and adhesives. We show the results of eleven consecutive trials to form such towers autonomously using four arbitrarily in front of the robot placed rocks." @default.
• W2600581678 created "2017-04-07" @default.
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• W2600581678 date "2017-05-01" @default.
• W2600581678 modified "2023-09-28" @default.
• W2600581678 title "Autonomous robotic stone stacking with online next best object target pose planning" @default.
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• W2600581678 doi "https://doi.org/10.3929/ethz-a-010870003" @default.
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