HUMAN-ROBOT COLLABORATIVE DESIGN (HRCoD): REAL-TIME COLLABORATIVE CYBER-PHYSICAL HMI PLATFORM FOR ROBOTIC DESIGN AND ASSEMBLY THROUGH AUGMENTED REALITY

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HUMAN-ROBOT COLLABORATIVE DESIGN (HRCoD):
REAL-TIME COLLABORATIVE CYBER-PHYSICAL HMI PLATFORM FOR ROBOTIC
DESIGN AND ASSEMBLY THROUGH AUGMENTED REALITY

Author:

Mona Hashemi

Abstract:

Human-Robot Collaborative Design (hereinafter referred to as HRCoD) is an application-based
research project that aims to address the gap between users/architects—with a limited technical
background and cutting-edge design and fabrication mediums, including adaptive digital design
and robotic. Employing new methods of visualization—such as Augmented Reality (AR) and
User-Interface (UI) design, along with real-time robotics and a customized digital design
environment, HRCoD develops a Human-Machine Interface (HMI) for designing a modular
installation through a hybridized use of robotics and AR as possible mediums for design and
making.
Using industrial robots in creative/design-oriented applications rather than mass production has
attracted a wide range of attention among architects and designers. These new applications make
it possible for a wider range of users—with different design and technical backgrounds to
integrate robotics in their projects, creative design, or production. When it comes to robotics and
computational techniques associated with it, current software and hardware platforms are mainly
developed for knowledgeable users with an advanced technical understanding of robotic
programming/operating. This exclusivity creates a distance between the technologies mentioned
above and users/architects with limited technical skills.
HRCoD uses a physical robot arm and virtual reality components to simulate the assembly
process physically. The combination of physical robot motion/simulation and the digital design
AR interface enables the user/designer to evaluate the process in its actual setup and explore its
possible limitations. The novelty of this platform and workflow lies in the real-time collaboration
between humans and robots and the utilization of AR as a visualization tool that constantly
updates the design process and its outcome. Additionally, and as part of the project’s HMI
collaborative nature, HRCoD also aims to propose a decision-making mechanism for the
collaborative robot to interactively participate in designing the project’s final outcome by making
“informed” design decisions.
Using combinatorial logic as the design discipline, HRCoD seeks to integrate the design agendas
and assembly analysis into one coherent design framework and enables users with little design
background and software skills to interactively engage in the design process with the robotic
design and fabrication process. The final platform, evaluated and developed through multiple
iterations, represents a fully computational workflow toward a real-time human-robot
collaborative design and assembly. This platform’s validity is tested through one of the final
iterations of this platform, called HRCoD-Alpha, for designing a modular installation with the
most coverage area

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