Intuitive Robotic Plastering
AUGMENTED ON-SITE ROBOTIC FABRICATION • ETH Zurich, Switzerland
@Gramazio Kohler Research
Interactive Robotic Plastering (IRoP) is an augmented digital fabrication system developed at Gramazio Kohler Research, ETH Zurich, enabling designers and skilled workers to engage intuitively with an in-situ robotic plastering process. Plastering is a complex craft relying on implicit tactile knowledge and artisanal dexterity, making it challenging to automate without losing qualitative expressiveness.
The system integrates a controller-based motion tracking interface, real-time audio-visual projection guidance, and a UR10 robotic arm to translate human design intentions directly into adaptive robotic trajectories while respecting robot and material constraints. Within the MAS ETH in Architecture and Digital Fabrication, a full-scale architectural demonstrator was realized on-site in an industrial facility in Rümlang, Zurich.
Human-Machine Collaboration & Gesture Capture
An interactive XR framework translating natural human hand gestures into real-time robotic toolpaths, bridging tacit human craftsmanship with automated robotic fabrication.
Intuitive Robotic Plastering - Process Demonstration
Hand gesture capturing and intention mapping
Robotic Plastering team with Anybot @anybotics
MAS research team during on-site setup
XR and intuition capturing setup
Gesture tracking and calibration
Interactive path projection mapping
Dynamic spatial trajectory generation
Computational Architecture & Feedback Chronology
A closed-loop computational pipeline built with ROS, COMPAS framework, and Grasshopper to process sensory telemetry and dynamically regulate amorphous material deposition.
Computational workflow with looped feedback stages
Real-time data flow and fabrication process control
Computational model and motion tracking architecture
Interactive design & trajectory editing diagram
Hardware configuration and dual-axis setup
System architecture and hardware integration
Fabrication and localization setup
Robotic Spraying & Digital Materiality
Exploring the boundary between robotic automation and craft, the UR10 robotic arm sprays adaptive thin layers of plaster to form a tactile, textured architectural surface.
On-site robotic plaster spraying in action
Real-time continuous spraying trajectory generation
Full-scale on-site demonstrator in Rümlang
Robotic spray nozzle deposition close-up
Early materiality test samples
Final cured surface texture
Surface relief and spray layering detail
Articulated architectural plaster surface
Realized Architectural Installation
Full-scale interior wall installation produced via adaptive thin-layer plaster spraying at Rümlang, Zurich.
Realized project - Rümlang, Zurich