Article:

This paper introduces an adaptive robotic spatial aggregation system for thedevelopment of an intricate self-supporting glass structure. Rather than usingdiscrete and standardized building elements in the design and fabricationprocess, this research focuses on utilizing a non-arbitrary shape as an aggregatedmaterial for autonomous robotic assembly. More specifically, this paper presentsan adaptive robotic fabrication pipeline that measures the size of hollow glassballs (inaccurate materials) as fabrication units to aggregate the entire glassstructure. Ultraviolet (UV) curing adhesive is used as the bond between eachglass element. Thus, through the live robotic programming as well as variouscombinations of spherical glass objects and UV curing adhesives/devices, theentire glass structure is self-supported. The project is aimed not only at thedevelopment of algorithms and a robotic fabrication system, but also theexploration of the aesthetics of glass materials. In other words, this projectinvestigates a flexible and adaptable framework in response to live sensor datafor the design and fabrication of nonstandard spatial structures aggregated out ofdiscrete spherical glass elements, and it further explores glass material aestheticand perception of architecture