Robotic Softness: An Adaptive Robotic Fabrication Process for Woven Structures

This paper investigates the potential of behavioral construction strategies for architectural production
through the design and robotic fabrication of three-dimensional woven structures inspired by
the behavioral fabrication logic used by the weaverbird during the construction of its nest. Initial
research development led to the design of an adaptive robotic fabrication framework composed of
an online agent-based system, a custom weaving end-effector and a coordinated sensing strategy
utilizing 3D scanning.

The outcome of the behavioral weaving process could not be predetermined a priori in a digital
model, but rather emerged out of the negotiation among design intentions, fabrication constraints,
performance criteria, material behaviors and specific site conditions. The key components of the
system and their role in the fabrication process are presented both theoretically and technically,
while the project serves as a case study of a robotic production method envisioned as a soft
system: a flexible and adaptable framework in which the moment of design unfolds simultaneously
with fabrication, informed by a constant flow of sensory information.