Gramazio Kohler Research
Open Positions
Compas FAB
Compas Timber
AIXD: AI-eXtended Design
AI-Augmented Architectural Design
Impact Printing
AR Timber Assemblies
Architectural Design with Conditional Autoencoders
Integrated 3D Printed Facade
Think Earth SP7
Robotic Plaster Spraying
Additive Manufactured Facade
Human-Machine Collaboration
Timber Assembly with Distributed Architectural Robotics
Eggshell Benches
Autonomous Dry Stone
Data Driven Acoustic Design
Mesh Mould Prefabrication
Data Science Enabled Acoustic Design
Thin Folded Concrete Structures
Adaptive Detailing
Deep Timber
Robotic Fabrication Simulation for Spatial Structures
Jammed Architectural Structures
Digital Ceramics
On-site Robotic Construction
Mesh Mould Metal
Smart Dynamic Casting and Prefabrication
Spatial Timber Assemblies
Robotic Lightweight Structures
Mesh Mould and In situ Fabricator
Complex Timber Structures
Spatial Wire Cutting
Robotic Integral Attachment
Mobile Robotic Tiling
YOUR Software Environment
Aerial Construction
Smart Dynamic Casting
Topology Optimization
Mesh Mould
Acoustic Bricks
Additive processes
Room acoustics

AR Timber Assemblies, 2021-2022
The goal of this research project is the development and implementation of an innovative Augmented Reality (AR) fabrication process for the paperless production of standard timber frame elements. The proposed entirely digital process removes the need of 2D shop drawings in the construction hall, reducing the planning and quality control effort of timber construction companies by 20%. In addition, it enables and facilitates the assembly of complex timber structures.

The AR system consists of a smartphone and a ceiling mounted projector. The assembly instructions are generated from an exported Industry Foundation Class (IFC), which is exported from the Computer Aided Design (CAD) software. The 3D instructions consist of 3D objects, dimensions and text, which are sequentially shown for each assembly step.

The development of the AR fabrication process required examining necessary assembly instructions at the timber assembly line, assembly sequencing and the development of AR fabrication workflows. The proposed process enabled the builders to receive just-in-time instructions from the 3D model without needing any 2D shop drawings. Novel algorithms for object-based visual-inertial tracking were utilized and further developed, which played a crucial role in ensuring the accuracy of the tracking and placement of the timber elements. A computational tool was developed to parse the exported IFC file and create a sequenced digital building model. The digital building model contains the geometries of the timber elements to be assembled and required instructions for the builder, such as text and linear dimensions. The instructions were generated based on the geometry and attributes from the CAD model.

Gramazio Kohler Research, ETH Zurich
Prof. Fabio Gramazio, Prof. Matthias Kohler, Matthias Helmreich, Alexandra Anna Apolinarska, Gonzalo Casas, Lauren Vasey, Michael Lyrenmann

Robotic Systems Lab, ETH Zurich
Prof. Marco Hutter, Timothy Sandy, Fadri Furrer, Julian Schwarz, Cyrill Hedinger

In cooperation with:, Blumer Lehmann AG, Renggli AG Holzbau, ERNE AG Holzbau

Funding: Innosuisse (Project ID: 50153.1)

Copyright 2024, Gramazio Kohler Research, ETH Zurich, Switzerland
Gramazio Kohler Research
Chair of Architecture and Digital Fabrication
ETH Zürich HIB E 43
Stefano-Franscini Platz 1 / CH-8093 Zurich

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