The introduction of assistive construction robots can significantly alleviate physical demands on construction workers. Leveraging a Building Information Model (BIM) offers a natural and promising approach to driving a robotic construction workflow. However, because of uncertainties inherent in construction sites, such as discrepancies between the as-designed and as-built components, robots cannot solely rely on a BIM to plan and perform field construction work. Human workers are adept at improvising alternative plans with their creativity and experience and thus can assist robots in overcoming uncertainties and performing construction work successfully. In such scenarios, it is critical to continuously update the BIM as work processes unfold so that it includes as-built information for the ensuing construction and maintenance tasks. This research introduces an interactive closed-loop digital twin framework that integrates a BIM into human-robot collaborative construction workflows. The robot's functions are primarily driven by the BIM, but it adaptively adjusts its plans based on actual site conditions, while the human co-worker oversees and supervises the process. When necessary, the human co-worker intervenes in the robot's plan by changing the task sequence or workspace geometry or requesting a new motion plan to help the robot overcome the encountered uncertainties. Experiments involving block pick-and-place tasks are carried out to verify system performance using an industrial robotic arm in a research laboratory setting that mimics a construction site. In addition, a drywall installation case study is conducted to validate the system. Integrating the flexibility of human workers and the autonomy and accuracy afforded by BIMs, the proposed framework offers significant promise of increasing the robustness of construction robots in the performance of field construction work.

翻译：辅助建筑机器人的引入能够显著减轻建筑工人的体力负担。利用建筑信息模型（BIM）为驱动建筑机器人工作流程提供了一种自然且前景广阔的方法。然而，由于施工现场固有的不确定性（例如设计构件与建成构件之间的差异），机器人无法仅依赖BIM来规划和执行现场施工作业。人类工人凭借其创造力和经验擅长即兴制定替代方案，因此能够协助机器人克服不确定性并成功完成施工作业。在此类场景中，随着工作过程的推进持续更新BIM至关重要，以确保其包含后续施工及维护任务所需的竣工信息。本研究引入了一种交互式闭环数字孪生框架，将BIM集成到人机协作的施工工作流程中。机器人的功能主要由BIM驱动，但会根据实际现场条件自适应调整其计划，同时人类协作者负责监督整个流程。必要时，人类协作者可通过改变任务顺序、调整工作空间几何形状或请求新的运动规划来干预机器人的计划，以帮助其克服所遇到的不确定性。通过在研究实验室环境中模拟施工现场，利用工业机械臂执行块体拾放任务实验以验证系统性能；此外，通过隔墙安装案例研究对系统进行验证。该框架融合了人类工人的灵活性与BIM提供的自主性和精确性，为提升建筑机器人在现场施工作业中的稳健性提供了显著潜力。