Although the advances of autonomous control in robotics broke new ground in the realization of architecture, they have hardly been integrated with architectural design intention. Very few examples of architecture-specific robot exist. This results from multiple realistic factors including the scalability and cost. However, the fundamental incentive lies in the stereotypical design ideol-ogy that fails to develop new spatial agendas to stimulate the integration. This paper presents a design workflow that revolves around designing an architec-tural robot. An operational full-scale architectural robot of an actuated active transforming structure was prototyped and tested to demonstrate the workflow. The design is based on a prototyping model with pneumatic actuation system and sensing using computer vision. The structure interacts with human by de-tecting face features and actively transforming its gesture to prevent human from approaching. The communication is based on a simulation-model-free host program that constantly reads sensor feedbacks and sends actuation values.

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https://link.springer.com/chapter/10.1007/978-981-13-8153-9_26

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Best paper of The International Conference on Computational Design and Robotic Fabrication