Wissenschaftliche Publikationen

Blended calcium aluminate cements for digital fabrication with concrete

Load-deformation behaviour of concrete tension ties with weft-knitted textile reinforcement

Towards RL-Based Hydraulic Excavator Automation

Influence of pumping/extrusion on the air-void system of 3D printed concrete

Geodetic Monitoring of Digitally Fabricated Structures Early After Construction

Concrete Choreography: Prefabrication of 3D-Printed Columns

Potential Approaches for Reinforcing Complex Concrete Structures with Integrated Flexible Formwork

KnitCandela - Challenging the construction, logistics, waste and economy of concrete-shell formworks

Residence Time Distributions in Continuous Processing of Concrete

Processing of Set on Demand Solutions for Digital Fabrication in Architecture

Geopolymer formulation for binder jet 3D printing

Design and Fabrication of a Non-standard, Structural Concrete Column Using Eggshell: Ultra-Thin, 3D Printed Formwork

Fast Complexity: Additive Manufacturing for Prefabricated Concrete Slabs

Design and structural optimization of topological interlocking assemblies

Vertical Modulations: Computational design for concrete 3D printed columns

Optimized Internal Structures for 3D-Printed Sandwich Elements

Segmented Spiral Using Inter-Connected Timber Elements

Autonomous Free-Form Trenching using a Walking Excavator

Revisiting Folded Forms with Digital Fabrication

X-Shells: A New Class of Deployable Beam Structures

Concrete Extrusion 3D Printing across Disciplines • Opportunities for Customisation

Materials in Construction: Moving Towards More Ecological and Digital Usage

Size effect in multiaxial double punch tests on fibre reinforced concrete cubes

Digital Concrete: Research and Applications

Trajectory Optimization for Wheeled Quadrupedal Robots Driving in Challenging Terrain

Powder Bed 3D Printing with Geopolymers

Navigation aware planning for tandem UAV missions in GNSS challenging environments

Adaptive Unscented Kalman Filter-based Disturbance Rejection With Application to High Precision Hydraulic Robotic Control

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation

Whole-Body Motion Planning for Walking Excavators

3D-Printed Formwork for Integrated Funicular Concrete Slabs

Automated Localization of a Mobile Construction Robot with an External Measurement Device

Hydration control of ternary cements for digital fabrication with concrete

X-Shell Pavilion: A Deployable Elastic Rod Structure

A design integrated parametric tool for real-time Life Cycle Assessment – Bombyx project

Social Network Analysis of DFAB House: a Demonstrator of Digital Fabrication in Construction

χ-Shell, a new spatial deployable lattice compared to traditional reticulated shells

Function Representation for Robotic 3D Printed Concrete

Robotic Fabrication of Bespoke Timber Frame Modules

3D printing sand molds for casting bespoke metal connections

Design strategies for a 3D printed acoustic mirror

Towards Automatic Path Planning for Robotically Assembled Spatial Structures

Robotic AeroCrete – A novel robotic spraying and surface treatment technology for the production of slender reinforced concrete elements

ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot

Electrical skin: 3D-printed façade panel with integrated electric infrastructure

Dissolvable 3DP Formwork

Numerical Sculpting - Volumetric Modelling Tools for in place Spatial Additive Manufacturing

Robotic Landscapes: Designing Formation Processes for Large Scale Autonomous Earth Moving

Digital Composites: Robotic 3D Printing of Continuous Carbon Fiber-Reinforced Plastics for Functionally-Graded Building Components

Digital Concrete Processing: A Review

Digital Metal: Additive Manufacturing for Casting Metal Parts in Architecture

Design of Robotically Fabricated Timber Frame Structures

Early-design integration of environmental criteria for digital fabrication

LCA benchmarks for decision-makers adapted to the early design stages of new buildings

Design-integrated Environmental Performance Feedback based on Early-BIM

Printing Whisper Dishes

In Place Detailing

Spatial Graded Patterns - A case study for large-scale differentiated space frame structures utilising high-speed 3D-printed joints

Adapting Smart Dynamic Casting to Thin Folded Geometries

Exploiting the Potential of Digital Fabrication for Sustainable and Economic Concrete Structures

Challenges of Real-Scale Production with Smart Dynamic Casting

Potentials of Steel Fibres for Mesh Mould Elements

Mechanical Characterization of Timber Structural Elements Using Integral Mechanical Attachments

Skaterbots: Optimization-based design and motion synthesis for robotic creatures with legs and wheels

The control toolbox — An open-source C++ library for robotics, optimal and model predictive control

Environmental design

Nonlinear Disturbance Attenuation Control of Hydraulic Robotics

Accurate and Adaptive In situ Fabrication of an Undulated Wall using an On-Board Visual Sensing System

Submillimeter Formwork

Adaptive Control System for Smart Dynamic Casting

Greedy Stone Tower Creations with a Robotic Arm

Evaluation of Combined Time-Offset Estimation and Hand-Eye Calibration on Robotic Datasets

Computational Design of Robotically Assembled Spatial Structures

Numerical structural identification of a cross-laminated timber slab using 3D laserscanning

Adaptive Control System for Smart Dynamic Casting

Accurate and Adaptive In situ Fabrication of an Undulated Wall using an On-Board Visual Sensing System

Greedy Stone Tower Creations with a Robotic Arm

Submillimeter Formwork

Evaluation of Combined Time-Offset Estimation and Hand-Eye Calibration on Robotic Datasets

Computational Design of Robotically Assembled Spatial Structures

Numerical structural identification of a cross-laminated timber slab using 3D laserscanning

Cracks in the Mirror: Conceptualizing the Ongoing Aec Industry Re-Organization

Smart Slab: Computational Design and Digital Fabrication of a Lightweight Concrete Slab

Interactive Robotic Manipulation of Elastic Objects

Development of a Spring Model for the Structural Analysis of a Double-Layered Timber Plate Structure with Through-Tenon Joints

Incremental Object Database: Building 3D Models from Multiple Partial Observations

3D Printed Formwork for Prefabricated Concrete Slabs

Full-scale prototype of a cable-net and fabric formed concrete thin-shell roof

Computational Design of Deployable Auxetic Shells

Rethinking the roles in the AEC industry to accommodate digital fabrication

Ceramic Components - Computational Design for Bespoke Robotic 3D Printing on Curved Support

Skating with a Force Controlled Quadrupedal Robot

Volumetric modelling for 3D printed architecture

Automatic differentiation of rigid body dynamics for optimal control and estimation

A projection approach to equality constrained iterative linear quadratic optimal control

Complex architectural elements from UHPFRC and 3D printed sandstone

Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control

Design, development and experimental assessment of a robotic end-effector for non-standard concrete applications

TSDF-based change detection for consistent long-term dense reconstruction and dynamic object discovery

Robotic Integral Attachment

The Smart Takes from the Strong

Mesh Mould: An On Site, Robotically Fabricated, Functional Formwork

Cooperative Fabrication of Spatial Metal Structures

End-of-life consideration for hybrid material systems

Robotic Landscapes. Developing Computational Design Tools towards Autonomous Terrain Modeling

skelETHon Formwork: 3D Printed Plastic Formwork for Load-Bearing Concrete Structures

When Digital Fabrication Provides Environmental Benefits: Study of Complex Structures

Autonomous Mission with a Mobile Manipulator - A Solution to the MBZIRC

Autonomous robotic stone stacking with online next best object target pose planning

Integration of environmental criteria in early stages of digital fabrication

Automated generation of knit patterns for non-developable surfaces

Smart Dynamic Casting

The Armadillo Vault: Balancing computation and traditional craft

Equilibrium-Aware Shape Design for Concrete Printing

Dynamically decoupling base and end-effector motion for mobile manipulation using visual-inertial sensing

Real-time motion planning of legged robots: A model predictive control approach

3D-Printed Stay-in-Place Formwork for Topologically Optimized Concrete Slabs

A 3D cutting method for integral 1DOF multiple-tab-and-slot joints for timber plates, using 5-axis CNC cutting technology

Two Methods for the Identification of Uncertain Parameters of an Architectural Cable Net Geometry

Shear resistance and failure modes of edgewise multiple tab-and-slot joint (MTSJ) connection with dovetail design for thin LVL spruce plywood Kerto-Q panels

A Double-Layered Timber Plate Shell: Computational Methods for Assembly, Prefabrication, and Structural Design

Data management and modelling of complex interfaces in imperfect discrete-element assemblies

The Armadillo Vault: Computational design and digital fabrication of a freeform stone shell

Autonomous repositioning and localization of an in situ fabricator

Feedback control of Smart Dynamic Casting through formwork friction measurements

Sequential Quadratic Programming for the Control of an Architectural Cable Net Geometry

Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation

Complex concrete casting: knitting stay-in-place formwork

Non-prismatic bending/torsion beam elements for form finding by dynamic relaxation

ANYpulator: Design and Control of a Safe Robotic Arm

Perception-less Terrain Adaptation through Whole Body Control and Hierarchical Optimization

An Environmental Perspective on Digital Fabrication in Architecture and Construction

Théâtre Vidy Lausanne - Ein zweischichtiges gefaltetes Flächentragwerk aus Brettsperrholz

Environmental Implications and Opportunities of Digital Fabrication

Putting concrete to sleep and waking it up with chemical admixtures

Mesh Mould: Robotically Fabricated Metal Meshes as Concrete Formwork and Reinforcement

Fusing ultra-wideband range measurements with accelerometers and rate gyroscopes for quadrocopter state estimation

Decomposing three-dimensional shapes into self-supporting discrete element assemblies