Hollow-Characters: Robotically Programmed Matter for Kinetic Behavior and Guided Self-Assembly

Abstract This paper describes a design to fabrication framework for robotic sequential casting of architectural objects: “RotoForm”. RotoForm utilizes simulation, thermal imaging, and robotic fabrication for a responsive casing process that allows to control material distribution through robotic adaptation to incoming sensor data. The RotoForm robotic fabrication framework materializes large hollow objects, prioritizing activated performance over traditional optimization criteria. The targeted results are robotically fabricated hollow-concrete elements with specific motion behavior. The scope of this research extends beyond optimizing the weight of construction to creating objects/building elements capable of specific kinetic behaviors by manipulating their physical attributes through robotic fabrication. We ask: “What if the architecture moves, becomes dynamic, and animated? What if architectural space transforms from being static into reconfigurable compositions that adapt themselves to the use and the users? What, if seemingly massive pieces rock and move at the touch of your hand?” This research paper focuses on integrating advanced robotic fabrication methods with the design and assembly of hollow-concrete elements, notably focusing on the “RotoForm” robotic fabrication setup. Central to this investigation is the methodological approach to activating desired motion behaviors of building elements for guided self-assembly by tailoring their center of mass. A critical challenge addressed is translating digital data into tangible objects, ensuring precision in fabrication and adherence to desired motion patterns. Our method in this paper employs an array of innovative tracking techniques, such as thermal imaging, to increase the awareness during the robotic fabrication process and also assess the bespoke motion of the elements in interaction. We utilize this approach, materializing programmed building elements for kinetic performances, showcasing the potential of robotics to enable more circularity in architectural design. This research highlights a method for linking digital simulation and robotic fabrication and emphasizes how digital simulations relate to real-world matter.