About
I intend to enable autonomous robots to build large scale structures made of practical materials such as cement, steel, or earth. Achieving this goal requires solving problems in construction planning algorithms, robot hardware design, reliable sensing and control, and the computational design of a system for construction, including blocks, connectors, and grasping strategies. Large scale autonomous construction can allow us to rapidly adapt to changing environmental circumstances by rapidly deploying protective infrastructure that can be moved and re-deployed as needed.
Blog
Videos
AUV systems
Kinematics
3D printing
Selected Publications
- Scalable underwater assembly with reconfigurable visual fiducials
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Samuel Lensgraf, Ankita Sarkar, Adithya Pediredla, Devin Balkcom, Alberto Quattrini Li
(submitted) ICRA 2024 | arXiv
- Buoyancy enabled autonomous underwater construction with cement blocks
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Samuel Lensgraf, Devin Balkcom, Alberto Quattrini Li
- [Best paper third place] Extended abstract: Towards the autonomous underwater construction of cement block structures with free-floating robots
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Samuel Lensgraf, Amy Sniffen, Alberto Quattrini Li, Devin Balkcom
- Droplet: Towards Autonomous Underwater Assembly of Modular Structures
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Samuel Lensgraf, Amy Sniffen, Zachary Zitzewitz, Evan Honnold, Jennifer Jain, Weifu Wang, Alberto Quattrini Li, Devin Balkcom
- Sunflower: locating underwater robots from the air
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Charles J Carver, Qijia Shao, Samuel Lensgraf, Amy Sniffen, Maxine Perroni-Scharf, Hunter Gallant, Alberto Quattrini Li, Xia Zhou
- Falling Into Place: Drop Assembly of Interlocking Puzzles
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Amy Sniffen, Zezhou Sun, Samuel E Lensgraf, Emily Whiting, Alberto Quattrini Li, Devin Balkcom
- PuzzleFlex: kinematic motion of chains with loose joints
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Samuel Lensgraf, Karim Itani, Yinan Zhang, Zezhou Sun, Yijia Wu, Alberto Quattrini Li, Bo Zhu, Emily Whiting, Weifu Wang, Devin Balkcom
- Catabot: Autonomous surface vehicle with an optimized design for environmental monitoring
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Mingi Jeong, Monika Roznere, Samuel Lensgraf, Amy Sniffen, Devin Balkcom, Alberto Quattrini Li
- Toward Optimal FDM Toolpath Planning with Monte Carlo Tree Search
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Chanyeol Yoo, Samuel Lensgraf, Robert Fitch, Lee M. Clemon, Ramgopal Mettu
- Incorporating Kinematic Properties into Fused Deposition Toolpath Optimization
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Samuel Lensgraf, Ramgopal R. Mettu
- An improved toolpath generation algorithm for fused filament fabrication
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Samuel Lensgraf, Ramgopal R. Mettu
- [Best automation paper] Beyond layers: A 3D-aware toolpath algorithm for fused filament fabrication
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Samuel Lensgraf, Ramgopal R. Mettu