Gramazio Kohler Research
Open Positions
Compas FAB
Compas Timber
AIXD: AI-eXtended Design
AI-Augmented Architectural Design
Impact Printing
AR Timber Assemblies
Architectural Design with Conditional Autoencoders
Integrated 3D Printed Facade
Think Earth SP7
Robotic Plaster Spraying
Additive Manufactured Facade
Human-Machine Collaboration
Timber Assembly with Distributed Architectural Robotics
Eggshell Benches
Autonomous Dry Stone
Data Driven Acoustic Design
Mesh Mould Prefabrication
Data Science Enabled Acoustic Design
Thin Folded Concrete Structures
Adaptive Detailing
Deep Timber
Robotic Fabrication Simulation for Spatial Structures
Jammed Architectural Structures
Digital Ceramics
On-site Robotic Construction
Mesh Mould Metal
Smart Dynamic Casting and Prefabrication
Spatial Timber Assemblies
Robotic Lightweight Structures
Mesh Mould and In situ Fabricator
Complex Timber Structures
Spatial Wire Cutting
Robotic Integral Attachment
Mobile Robotic Tiling
YOUR Software Environment
Aerial Construction
Smart Dynamic Casting
Topology Optimization
Mesh Mould
Acoustic Bricks
Additive processes
Room acoustics
RPS (Robotic Plaster Spraying) process building up a volumetric formation, with adaptive thin-layer printing on a vertical surface.
RPS process building up a volumetric formation, with adaptive thin-layer printing on a vertical surface - result of 35 layers, with a final thickness on target surface (overhang) of ~18.5 cm.
Detailed view from the selected prototype within the catalogue of different surface geometries and textures produced with RPS.

Robotic Plaster Spraying, ETH Zurich, 2018-2023
PhD research project
This research investigates the design potentials of combining plaster with a robotic spraying process and proposes a novel, adaptive thin-layer printing method. Research goals address an on-site construction system that is capable of performing continuous robotic plaster spraying on building elements, without the need for additional formwork or tools used in conventional plastering to produce textural patterns and volumetric formations. To support the understanding of the complex-to-simulate material behavior in this process, systematic studies through physical testing are being conducted in order to collect data by visual sensing. The goal is to understand the influence of parameters such as velocity, angle and distance of spraying on the material behavior. This investigation will enable to inform the design process on the combined effect of the parameters prior to fabrication through a digital visualization tool, and to capture the design space of the proposed method. As such, robotic plaster spraying aims to contribute to the field of additive manufacturing and explore the surfaces of architectural spaces, enhancing the bespoke design potential of plaster with a new digital craft.


Selen Ercan Jenny, Lukasz L. Pietrasik, Lukasz, Eliott Sounigo, Ping Tsai, Fabio Gramazio, Matthias Kohler, Ena Lloret-Fritschi, Marco Hutter. "Continuous Mobile Thin-Layer On-Site Printing." Automation in Construction Volume 146, 2023.

Ercan, Selen, Ena Lloret Fritschi, Fabio Gramazio, Matthias Kohler. "Crafting plaster through continuous mobile robotic fabrication on-site." In Construction Robotics , Ercan, Selen, Ena Lloret Fritschi, Fabio Gramazio, Matthias Kohler, Cham: Springer Nature, 2020.

Ercan, Selen, Hermann Blum, Abel Gawel, Roland Siegwart, Fabio Gramazio, Matthias Kohler. "Online Synchronization of Building Model for On-Site Mobile Robotic Construction." In 2020 Proceedings of the 37th ISARC, 1508-1514. Edinburgh: International Association for Automation and Robotics in Construction, 2020.

Ercan, Selen, Sandro Meier, Fabio Gramazio, Matthias Kohler. "Automated Localization of a Mobile Construction Robot with an External Measurement Device." In 2019 Proccedings of the 36th ISARC, 1-8. Banff, Canada: International Association on Automation and Robotics in Construction, 2019.

Gramazio Kohler Research, ETH Zurich

In cooperation with: Robotic Systems Lab (RSL), Autonomous Systems Lab (ASL) and Chair of Geosensors and Engineering Geodesy (GSEG), ETH Zurich
Collaborators: Selen Ercan Jenny (project lead), Dr. Ena Lloret-Fritschi, Eliott Sounigo, Ping-Hsun Tsai, Valens Frangez, Philippe Fleischmann, Luca Ebner
Sponsors: HILTI AG, Giovanni Russo AG

Copyright 2024, Gramazio Kohler Research, ETH Zurich, Switzerland
Gramazio Kohler Research
Chair of Architecture and Digital Fabrication
ETH Zürich HIB E 43
Stefano-Franscini Platz 1 / CH-8093 Zurich

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