Investigation of Biomimetic Robotic Construction Process

• Main Authors: Cheng, Chi-Li, 鄭基立
• Other Authors: Hou, June-Hao
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/3tmgn3

碩士 === 國立交通大學 === 建築研究所 === 105 === In this thesis, we use beavers as biomimetic objects to develop biomimetic robotic construction process. Beavers are famous as natural architects. The structure of beaver dam is stable and the dimension is large. The mechanism of constructing beaver dam includes two processes. First, beavers select proper woods for construction and use streams to aggregate those woods to be self-assembled. This kind of natural materials is commonly seen in nature. Typhoons and rivers erode trees into mass driftwoods. These driftwoods are difficult to utilize by conventional construction process and are often discarded or burned. Therefore, if we can make good use of these natural materials instead of throwing them away, we can save lots of resources and provide design field with new possibilities. In this Implementation, we use sticks as scaled-down driftwoods. Biomimetic robotic construction process utilizes six degree of freedom robot and 3D camera and improves construction through machine learning. The machine learning mechanism estimates the relation between material properties and structure stability. Thus, the construction robot can select proper sticks for self-assembly by adapting local natural materials.