Adaptive Clay Formations

Sammanfattning: Rapid Clay Formations (RCF) is an ongoing research project investigating robotic aggregation of soft clay elements. This thesis presents our research into RCF construction on an architectural scale. It outlines our development of a fabrication process suitable for the construction of tall and slender structures made out of clay. This fabrication process is evaluated through a series of prototypes and preparations for a three week building workshop. In our development we have evaluated and tested material behaviour and optimization, geometric sensing, robot trajectory planning and mobile robotic localization. These explorations are combined with design studies for large monolithic clay structures aimed at a rapid construction on site.