Article:

Fabricating process with robotic awareness and creativity makes architect able toexplore the new boundary between digital and material world. Althoughparametric and generative design method make diverse processing of materialspossible for robots, it's still necessary to establish a new design-fabricationframework, where we could simultaneously deal with designers, robots, data,sensor technology and material natural characters. In order to develop a softersystem without gap between preset program and robot's varying environments,this paper attempts to establish an environment-computer-robot workflow andtransform traditional robotic fabrication from linear to more tangible andsuitable for architects` and designers' intuitive motion and gesture. RAF (RoboticAware Fabrication), a concept of real-time external enhancement fabrication isproposed, and a new workflow of HARF (Hand-motion Augmented RoboticFabrication) is developed, where motion sensor captures designer's hand-motion,filter algorithm recognizes the intention and update the preset program, roboticcontroller and RSI (Robotic Sensor Interface) adjusts robot's TCP (Tool CenterPoint) path in real time. With HARF workflow, two case studies of Hand-motionrobotic dance and Free-form concrete wall are made.