Robotic Fabrication: Sensing in Additive Construction

1st October, 2021

Main Organizers

ETH Zürich

Architect and digital fabrication researcher, currently part of an interdisciplinary construction robotics team, focusing on robotic plaster spraying, an on-site, adaptive thin layer printing process.

ETH Zürich

Engineer with a background in geodesy, industrial metrology and 

measurement systems. He works on robot control and guidance for digital fabrication based on geometric feedback systems.



ETH Zürich

Roboticist with research focus on SLAM, high-accuracy localization and mobile robotic building construction.


ETH Zürich

Architect with research interests in computational
design, robotic fabrication and material innovation.


ETH Zürich

Architect and digital fabrication researcher working on innovative ways of processing and shaping concrete without the need for traditional formwork.  


The Chinese University of Hong Kong

Roboticist with research focus on cable-driven robots and construction robotics.



Roboticist working on design, engineering and prototyping of industrial solutions to realize high value added products.

Affiliated Institutions



Recent advances in robotic technologies in architecture and civil engineering are pushing the development and integration of sensing solutions, allowing the quasi-real-time adaptation of building processes. Sensing is gradually enabling the handling of unknown or imprecise geometries and unforeseen construction errors and allow for quality inspection during and after the fabrication processes. Various experts from the fields of robotics, architecture and sensing systems need to collaborate to design the methods of tomorrow. Bringing these disciplines together, our primary goal in this workshop is to enable a fruitful discussion and a dialogue between experts, addressing a variety of topics.


Mobile Manipulation

Motion Planning

High-Accuracy Localization

Industrial Robotics

Autonomous Robotic Systems

Dexterous Manipulation

Cable-Driven Robots


3D Concrete Printing 

Spray-Based 3D Concrete Printing 


Digital Materiality

Simulation of Material Processes

Analytical Models

Optimization of Fabrication Processes


Computer Vision

Real-Time Perception

High-accuracy 3D Sensing

Quality Inspection


Laser Scanning

Tactile Sensing

Sensor Selection


Keynote Speakers



Focuses on the design, engineering and prototyping up to TRL 7 industrial solutions integrating advanced process
chains to realize high value added products. She has been working in cooperation with industrial stakeholders operating in the
manufacturing value chain.


ETH Zürich

Background in computer vision for robotics, focusing on real-time perception for small
aircraft, as some of the most challenging platforms for robotic perception. In her current work, she is
investigating robustness and efficiency of SLAM techniques. She is particularly active in robotic construction.


ETH Zürich

Architect with a strong interest in searching for innovative ways of processing and shaping concrete without the need for traditional formwork. Currently conducting research at the Chair of Architecture and Digital Fabrication and the Chair of Physical Chemistry of Building Materials at ETHZ.


Loughborough University

Background in the field of additive manufacturing in construction. His research projects made a significant contribution to initiating an entirely new field of research, ‘3D Concrete Printing’ (3DCP). This work pioneered ‘as good as cast’ concrete component manufacture for off-site fabrication based on additive principles.

TU Braunschweig

Background in computer vision, photogrammetry, and survey engineering for construction applications. His current research work focuses on development of sensing technologies and automation for additive manufacturing in construction processes, such as shotcrete 3D printing.


Nanyang Technological University

Background in advanced construction materials, self healing concrete and 3D printable concrete, as well as life cycle assessment of civil infrastructures. His research interests include spray-based 3D concrete printing (S-3DCP).

TU Berlin

Background in developing autonomous robotic systems, dexterous manipulation and interactive perception. His research focuses on algorithmic foundations required to enable robotic agents to autonomously perform complex tasks in dynamic and unstructured environments.


The Chinese University of Hong Kong

His research focus on cable-driven robots and construction robotics, as well as the study of kinematics, dynamics and control of complex roboticmechanisms, such as redundantly actuated and cable-driven manipulators.

Canvas Construction

Co-founder and CTO of Canvas Construction, an innovative company specializing in
construction robotics.
During her research at MIT she worked on designs ranging from high precision laser communications satellites to centimeter-scale robots to all-fluidic high-compliance robotic manipulators.


ETH Zürich

Works in the development of innovative measurement systems and analysis methods for highly accurate positioning, navigation, and monitoring of structures. His research focuses on rigorous quality control and simulation based optimization of measurement processes.

Video Recordings

Live Session Recording 

Session Moderators:

Selen Ercan-Jenny, Valens Frangez, Abel Gawel

Prof. Dr. Anna Valente:

Robotics in harsh environment – from MRO to the construction industry

Prof. Dr. Darwin Lau:

Design and development novel types of robots for the construction industry 

Prof. Dr. Andreas Wieser:

Quality assurance in additive construction: from dimensional control to structural monitoring

Prof. Dr. Shunzhi Qian:

Material distribution in spray-based 3D concrete printing: experimental studies and modelling

Prof. Dr. Markus Gerke:

Potential and challenges of shotcrete 3D Printing (SC3DP) within the building construction process

Prof. Dr. Oliver Brock:

Morphological sensing for active materials

Dr. Maria Telleria:

Robotic drywall finishing: achieving the highest quality in active construction site

Prof. Dr. Margarita Chli:

Vision-based robotic perception for fabrication

Dr. Ena Lloret-Fritschi:

Mouldless shaping with concrete: digital casting and robotic spraying systems

Prof. Dr. Richard Buswell:

3D concrete printing: past, present, and future

* If you have questions about the content of the presentations, please contact the respective author. If you have questions about the workshop in general, please contact either Valens Frangez on or Selen Ercan Jenny on Thank you!


Open-Call: Selected Papers

* P. Bedarf, A. Szabo, M. Zanini, and B. Dillenburger (ETH Zürich, CH) 

Machine sensing for mineral foam 3d printing

* G. Dielemans and K. Dörfler (TU München, DE)

Mobile additive manufacturing: a robotic system for cooperative on-site construction

* I. Tokac Celikyay, J. Philips, H. Bruyninckx, and A. Vande Moere (KU Leuven, BE)

Transforming unpredictable material effects into aesthetic expressions via sensor-informed fabrication grammars

* S. Griffioen and K. Tsuruta (ETH Zürich, CH)

A robotic sand–shaping workflow informed by 3D Scanning and pix2pix GAN

Workshop Sponsors