Abstract
Industrial robotics currently focuses on the utilization within clearly defined production environments. A paradigm shift away from repetition of static tasks towards dynamic human–robot collaboration is noticeable, specifically due to developments triggered by Industry 4.0 concepts. Within construction industries static automation can only be achieved at a prefabrication level; through these new developments adaptable robotics can be utilized for new concepts of on-site robotic assistance. Within this paper, we illustrate our approach towards robotics that adapts to changing environmental conditions and material features. Simultaneously we take advantage of existing pre-planning methods within computer-aided design (CAD). In order to take full advantage of the mixed human and machine work environments within construction, we enable on-site adaptation towards a pre-planned assembly strategy. We show our applications within the assembly of complex timber structures as well as transfer of the concept towards other construction tasks. By combining a priori knowledge from the design phase with haptic interaction primitives, we enable intuitive human–robot collaboration. For this approach the term of haptic programming was coined, which allows the exchange of knowledge between the user and a robot on a physical level.
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