Architecture Kinesthetics

Human-Material-Machine Choreographies

A city scale human and robot performance synced based on human movement.

Human and Machine Kinesthetics

The system’s functioning is conceptually derived from human kinesthetic movement. Bending rods and flexible fabrics are used to restrain, generate and control 3D forms. Dancer: Dwani Ruparelia.

Aggregation of Choreographies

A single robotic agent aggregates into multiple agents, forming a collective choreography spanning a larger area and creating a mesmerising large scale choreography of architecture.

Collective Performance Schematics

These schematic images show, the intricate and delicate forms frozen in time during these collective performances. A robotic arm makes these movements possible.

Collective Performance Schematics

Controlled movements generate appealing outcomes of architectural scales that can serve and deliver both utilitarian and artistic value to the predominantly static built environment.

Robotic Design

Dance of the Bot

A choreography of a human and a robotic agent that depicts the potential of a kinetic and responsive architecture. The structure can respond to auditory and visual stimuli changing shape in real time. Dancer: Aanal Mehta.

Prototype Development

A set of physical prototypes developed as part of the research and development of this kinetic lightweight architectural system. These life scale prototypes are able to change shape and serve different purposes in doing so.

Design Process and Control System

Form generation and shape-change simulation is carried out in Kangaroo via Grasshopper 3D. This data is transferred to ROS to actuate physical motors, while using Unity 3D as an interface and control platform.

Functioning of Robotic Arm

A 3 DOF mobile robotic arm is designed to manoeuvre on a 3D grid of substructure modules, some of which are connected to the bending active (TH) unit. The arm moves modules to cause global shape change.

User-based Actuation

A kinetic RGBD sensor is used to directly link the robotic BATH system to a human user. The human’s movement controls the movement of the structure in real time thus creating a responsive kinetic architecture.

Behaviour Design

Bending Active Textile Hybrids

Bending active textile hybrid structures (BATH) are light weight, deployable and re-configurable structural systems that have been historically employed as architecture in a static manner.

System Components and Design

The system is composed of a mobile robotic arm, a set of substructure modules and a BATH structure that combine large span capabilities and actuated rigid body reconfiguration to achieve their architectural goal.

Agent-based Modelling Approach

ABM is employed as a tool for generating and optimising a behaviour logic for how the system functions and moves across space. It also suggests the optimum aggregation pattern for substructure module placements.

Environment-based Actuation

The system is trained using machine learning to enable it to be used as a “sun umbrella” which autonomously moves with the movement of the Sun and the human under it to provide shade at all times.

Performance Aspects

Elastic choreographies use BATH structures to create movement via its active AI which contributes to the decision making for system reconfiguring. The lightweight material allows for easy transport and installation.