{"id":"https://openalex.org/W3110329237","doi":"https://doi.org/10.1145/3424630.3425415","title":"RobotSculptor: Artist-Directed Robotic Sculpting of Clay","display_name":"RobotSculptor: Artist-Directed Robotic Sculpting of Clay","publication_year":2020,"publication_date":"2020-11-05","ids":{"openalex":"https://openalex.org/W3110329237","doi":"https://doi.org/10.1145/3424630.3425415","mag":"3110329237"},"language":"en","primary_location":{"id":"doi:10.1145/3424630.3425415","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3424630.3425415","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symposium on Computational Fabrication","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101872394","display_name":"Zhao Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Zhao Ma","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063407005","display_name":"Simon Duenser","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Simon Duenser","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101912923","display_name":"Christian Schumacher","orcid":"https://orcid.org/0000-0001-7975-1680"},"institutions":[{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christian Schumacher","raw_affiliation_strings":["Disney Research"],"affiliations":[{"raw_affiliation_string":"Disney Research","institution_ids":["https://openalex.org/I4210142140"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065919594","display_name":"Romana Rust","orcid":"https://orcid.org/0000-0003-3722-8132"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Romana Rust","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005916572","display_name":"Moritz B\u00e4cher","orcid":"https://orcid.org/0000-0002-1952-1266"},"institutions":[{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Moritz B\u00e4cher","raw_affiliation_strings":["Disney Research"],"affiliations":[{"raw_affiliation_string":"Disney Research","institution_ids":["https://openalex.org/I4210142140"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007043293","display_name":"Fabio Gramazio","orcid":"https://orcid.org/0000-0002-3761-7675"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fabio Gramazio","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023143074","display_name":"Matthias K\u00f6hler","orcid":"https://orcid.org/0000-0002-4111-4122"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Matthias Kohler","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055713873","display_name":"Stelian Coros","orcid":"https://orcid.org/0000-0001-6604-4784"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Stelian Coros","raw_affiliation_strings":["ETH Zurich"],"affiliations":[{"raw_affiliation_string":"ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5101872394"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":0.7816,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.74921019,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10789","display_name":"Interactive and Immersive Displays","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6846895217895508},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.5925008058547974},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5442604422569275},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5251685976982117},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5226383209228516},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5088430047035217},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5004620552062988},{"id":"https://openalex.org/keywords/expression","display_name":"Expression (computer science)","score":0.4704795181751251},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.4665064215660095},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.4278523623943329},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4146893620491028},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4113517105579376},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4102294445037842},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.37167367339134216},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.36931976675987244},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2865906357765198},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.17666465044021606},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1344200074672699},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1278078556060791},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11122468113899231}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6846895217895508},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.5925008058547974},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5442604422569275},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5251685976982117},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5226383209228516},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5088430047035217},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5004620552062988},{"id":"https://openalex.org/C90559484","wikidata":"https://www.wikidata.org/wiki/Q778379","display_name":"Expression (computer science)","level":2,"score":0.4704795181751251},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.4665064215660095},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.4278523623943329},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4146893620491028},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4113517105579376},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4102294445037842},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.37167367339134216},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.36931976675987244},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2865906357765198},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.17666465044021606},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1344200074672699},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1278078556060791},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11122468113899231},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3424630.3425415","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3424630.3425415","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symposium on Computational Fabrication","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6100000143051147,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1973502244","https://openalex.org/W2006830062","https://openalex.org/W2016446419","https://openalex.org/W2018207148","https://openalex.org/W2018515743","https://openalex.org/W2033002080","https://openalex.org/W2064708638","https://openalex.org/W2074610601","https://openalex.org/W2083219114","https://openalex.org/W2094937863","https://openalex.org/W2110762409","https://openalex.org/W2189134720","https://openalex.org/W2211135148","https://openalex.org/W2494385314","https://openalex.org/W2495119620","https://openalex.org/W2562889934","https://openalex.org/W2607599593","https://openalex.org/W2625658821","https://openalex.org/W2765772794","https://openalex.org/W2769701629","https://openalex.org/W2783424892","https://openalex.org/W2790898754","https://openalex.org/W2884579037","https://openalex.org/W2897143446","https://openalex.org/W2912241456","https://openalex.org/W2945910641","https://openalex.org/W2997825337","https://openalex.org/W2998800436","https://openalex.org/W3043305668","https://openalex.org/W3048841492","https://openalex.org/W4249338428"],"related_works":["https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2150194458","https://openalex.org/W2143461633","https://openalex.org/W4321471459","https://openalex.org/W2889071233","https://openalex.org/W2380814829","https://openalex.org/W2387511021"],"abstract_inverted_index":{"We":[0,126],"present":[1],"an":[2,45],"interactive":[3],"design":[4,42,74,118],"system":[5,98],"that":[6,54,111],"allows":[7],"users":[8],"to":[9,81,105],"create":[10],"sculpting":[11,109,138],"styles":[12,139],"and":[13,39,68,120,123,135],"fabricate":[14],"clay":[15,85,145],"models":[16],"using":[17,76],"a":[18,24,71,77,141],"standard":[19],"6-axis":[20],"robot":[21],"arm.":[22],"Given":[23],"general":[25],"mesh":[26,36],"as":[27],"input,":[28],"the":[29,35,41,56,60,83,93,107,113,117,128],"user":[30],"iteratively":[31],"selects":[32],"sub-areas":[33],"of":[34,48,59,73,96,130,144],"through":[37,70],"decomposition":[38],"embeds":[40],"expression":[43],"into":[44,92],"initial":[46],"set":[47],"toolpaths":[49,89],"by":[50,133],"modifying":[51],"key":[52],"parameters":[53,65],"affect":[55],"visual":[57],"appearance":[58],"sculpted":[61],"surface":[62],"finish.":[63],"These":[64],"were":[66],"identified":[67],"extracted":[69],"series":[72],"experiments,":[75],"customized":[78],"loop":[79],"tool":[80],"cut":[82],"water-based":[84],"material.":[86],"The":[87],"initialized":[88],"are":[90],"fed":[91],"optimization":[94],"component":[95],"our":[97,131],"afterwards":[99],"for":[100],"optimal":[101],"path":[102],"planning,":[103],"aiming":[104],"find":[106],"robotic":[108],"motions":[110],"match":[112],"target":[114],"surface,":[115],"maintaining":[116],"expression,":[119],"resolving":[121],"collisions":[122],"reachability":[124],"issues.":[125],"demonstrate":[127],"versatility":[129],"approach":[132],"designing":[134],"fabricating":[136],"different":[137],"over":[140],"wide":[142],"range":[143],"models.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}