Distributed Masonry
Corrugated Brick Assemblies Through Projection-Based Human-Robot Collaboration
Team:
Samet Yılmaz
Jutang Gao
Yilin Lin
Samet Yılmaz
Jutang Gao
Yilin Lin
Computational Fabrication | 2025‘26 Fall
Princeton University
Instructor
Prof.Dr. Arash Adel
Teaching Assist. Daniel Ruan
FILE: 2570_CFB
Distributed Masonry
Corrugated Brick Assemblies Through Projection-Based Human-Robot Collaboration
Team:
Samet Yılmaz
Jutang Gao
Yilin Lin
Samet Yılmaz
Jutang Gao
Yilin Lin
Computational Fabrication | 2025’26 Fall
Princeton University
Princeton University
Instructor
Prof.Dr. Arash Adel
Teaching Assist. Daniel Ruan
Developed in Princeton University’s Computational Fabrication course, this team project explores how computational fabrication reshapes construction through new human–robot labor divisions, integrated production/assembly, and hybrid media. It asks how robotic precision expands bricklaying design space: enabling efficient structural configurations, parameterizing them, and translating them into buildable systems. We built a full-scale wall prototype using Rhino/Grasshopper, a robotic arm, projection guidance, and on-site human fabrication.
02. Combining two types of running bonds
Input sequence 1: Boolean pattern for brick orientation.
Input sequence 2: Brick relative location to the center line.
Input sequence 3: Horizontal movements of layers.
Input sequence 2: Brick relative location to the center line.
Input sequence 3: Horizontal movements of layers.
All three patterns are made repetitive across the entire wall.
Notes:
Sequence of laying down bricks in different orientations should be paid attention to, as improper sequence will cause collision.
Certain amount of gap/tolerance is expected to allow geometric flexibility and accommodate for construction errors.
curved
08.
Flaws of this model
F1: Vertical gaps across more than one course need to be avoided.
F2: Too much space near edges are used for aligning
For each iteration:
For each brick that is not first or last brick in a course, do:
01. get their overlapped areas with previous course bricks and next course bricks.
02. calculate the differences between current brick center and center of gaps, as translation vectors.
03. sum up weighted vectors (based on which surface we want to prioritize and desired step size for each iteration), and get a potential new location.
04. check if there will be collision with neighbors, if so instead move brick only in surface normal direction.
Developed in Princeton University’s Computational Fabrication course, this team project explores how computational fabrication reshapes construction through new human–robot labor divisions, integrated production/assembly, and hybrid media. It asks how robotic precision expands bricklaying design space: enabling efficient structural configurations, parameterizing them, and translating them into buildable systems. We built a full-scale wall prototype using Rhino/Grasshopper, a robotic arm, projection guidance, and on-site human fabrication.