Robots can greatly alleviate physical demands on construction workers while enhancing both the productivity and safety of construction projects. Leveraging a Building Information Model (BIM) offers a natural and promising approach to drive a robotic construction workflow. However, because of uncertainties inherent on construction sites, such as discrepancies between the designed and as-built workpieces, robots cannot solely rely on the BIM to guide 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. This research introduces an interactive closed-loop digital twin system that integrates a BIM into human-robot collaborative construction workflows. The robot is primarily driven by the BIM, but it adaptively adjusts its plan based on actual site conditions while the human co-worker supervises the process. If necessary, the human co-worker intervenes in the robot's plan by changing the task sequence or target position, requesting a new motion plan, or modifying the construction component(s)/material(s) to help the robot navigate uncertainties. To investigate the physical deployment of the system, a drywall installation case study is conducted with an industrial robotic arm in a laboratory. In addition, a block pick-and-place experiment is carried out to evaluate system performance. Integrating the flexibility of human workers and the autonomy and accuracy afforded by the BIM, the system significantly increases the robustness of construction robots in the performance of field construction work.

翻译：机器人可有效减轻建筑工人的体力负担，同时提升施工项目的生产效率和安全性。利用建筑信息模型（BIM）为驱动机器人施工工作流提供了一种自然且有前景的方法。然而，由于施工现场固有的不确定性（如设计构件与实际构件之间的偏差），机器人无法仅依赖BIM指导现场施工。人类工人凭借其创造力和经验善于制定替代方案，因此可协助机器人克服不确定性并成功完成施工作业。本研究提出一种交互式闭环数字孪生系统，将BIM集成至人机协作施工工作流中。机器人主要受BIM驱动，但能根据实际现场条件自适应调整规划，同时人类协作者负责监督整个过程。必要时，人类协作者通过更改任务序列或目标位置、请求新的运动规划或修改施工构件/材料等方式干预机器人规划，助其应对不确定性。为探究该系统的物理部署，在实验室中采用工业机械臂开展干墙安装案例研究，并通过积木拾取放置实验评估系统性能。通过融合人类工人的灵活性以及BIM提供的自主性与精确性，该系统显著增强了施工机器人在现场作业中的鲁棒性。