Haptic Learning: Towards Neural-Network-based adaptive Cobot Path-Planning for unstructured spaces

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Collaborative Robots, or Cobots, bring new possibilities for human-machine
interaction within the fabrication process, allowing each actor to contribute with their specific capabilities. However creative interaction brings unexpected
changes, obstacles, complexities and non-linearities which are encountered in
real time and cannot be predicted in advance. This paper presents an
experimental methodology for robotic path planning using Machine Learning.
The focus of this methodology is obstacle avoidance. A neural network is
deployed, providing a relationship between the robot's pose and its surroundings, thus allowing for motion planning and obstacle avoidance, directly integrated within the design environment. The method is demonstrated through a series of case-studies. The method combines haptic teaching with machine learning to create a task specific dataset, giving the robot the ability to adapt to obstacles without being explicitly programmed at every instruction. This opens the door to shifting to robotic applications for construction in unstructured environments, where adapting to the singularities of the workspace, its occupants and activities presents an important computational hurdle today.
Original languageEnglish
Title of host publicationArchitecture in the Age of the 4th Industrial Revolution : Proceedings of the 37th eCAADe and 23rd SIGraDi Conference - Volume 2, University of Porto, Porto, Portugal, 11-13 September 2019
EditorsJosé Pedro Sousa, Joäo Pedro Xavier, Goncalo Castro Henriques
Number of pages10
Place of PublicationPorto
Publication date2019
Article number280
Publication statusPublished - 2019
EventeCAADe: Architecture in the Age of the 4th Industrial Revolution - University of Porto (FAUP), Faculty of Architecture, Porto, Portugal
Duration: 11 Sep 201913 Sep 2019


LocationUniversity of Porto (FAUP), Faculty of Architecture
Internet address
SeriesECAADE SIGRADI 2019 Architecture in the age of the 4th Industrial revolution


  • Architectural Robotics
  • Path Planning
  • Digital Fabrication
  • Artificial Intelligence
  • Data

Artistic research

  • No

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