Migrating Wall

Extending the Robotic Workspace through the use of a Mobile Platform


All robotic applications in architecture are facing the issue of a massive difference in size between the robotic system and the building to be erected. There are various ways to overcome this issue for example by prefabrication building parts in a static robotic cell, mounting robots on large gantry systems, or using freely roaming mobile robots. The latter has the advantage of getting away with relatively small robots but comes with the challenge of precisely tracking the mobile unit in space.

The project explores the opportunities and challenges of building an architectural prototype with a freely roaming robotic system where an UR5 robotic arm is mounted on a MiR 100 mobile robotic platform. The architectural prototype is built from 333 stacked wooden slats around 40 cm long as a curved wall. The slats can easily be reassembled by the robotic system thus let the wall slowly migrate over time.

The project was conducted as part of the seminar Mobile Architectural Robots, winter semester 2021/22, and helped to scope further research in spatially tracking autonomous robots for assembling architectural structures.    


Project Lead:

  • Prof. Mirco Becker

  • Andrea Kondziela
  • Victor Sardenberg


  • Antonin Brünner

  • Yang Song


  • Moaaz Alwaich
  • Chen Daie
  • Alessandro Floris
  • Zeinab Hannan
  • Mohamed Hassan
  • Zhengyang Ke
  • Yajing Liu
  • Andrea Marcos Pelaez
  • Alba Marin Perez
  • Paula Pietro Santa Barboza
  • Hendrik Weeke