Human-Robot Cooperative Assembly

This research aims to develop a generalized framework for designing and constructing complex spatial assemblies that require the cooperation of multiple agents—both humans and robots—to achieve tasks that neither can accomplish alone. The framework will explore the design possibilities of spatial assemblies by analysing their performative, temporal, and architectural aspects. It will also investigate various team organizations that can adapt to changing environmental and task-specific conditions by dividing assembly workflows into temporal and spatial events and by developing task coordination strategies. To link the physical and digital environments, the framework will explore different methods using sensors and actuators. The proposed methods will be validated through an experimental case study approach, where 1:1-scale prototypes with various cooperative human-robot teams will be tested. Insights gained from the experimental approach will help identify new areas of application for integrating robotic workflows into architecture and construction. Ultimately, the research aims to evaluate the benefits of human-robot teams with complementary skills and how they can unlock new potentials in the construction domain.


 Associated to


  • 2020-2024


Tie a knot: human–robot cooperative workflow for assembling wooden structures using rope joints

Mitterberger D., L. Atanasova, K. Dörfler, F. Gramazio & M. Kohler 
Construction Robotics 2022


Collective AR-Assisted Assembly of Interlocking Structures

Atanasova L., B. Saral, E. Krakovska, J. Schmuck, S. Dietrich,
F. Furrer, T. Sandy, P. D'Acunto, K.Dörfler

Design Modelling Symposium Berlin (Status: accepted)


Prototype as Artefact:
Design Tool for Open-ended Collaborative Assembly Processes

Atanasova L., D. Mitterberger, T. Sandy, F. Gramazio, M. Kohler, K. Dörfler
ACADIA 2020 Distributed Proximities