AEI 2008: Building Integration Solutions © 2008 ASCE

Robotics and Automation in Construction Industry

by

V.S.S. Kumar1, Member ASCE, FIE, Prasanthi, I2., and Anu Leena2.

Abstract: Construction phase is one of the important aspects of civil engineering structures. The
Downloaded from ascelibrary.org by WALTER SERIALS PROCESS on 10/16/13. Copyright ASCE. For personal use only; all rights reserved.

success of a project depends on how well the construction phase is carried out. Efficient and
economical construction is particularly important because of the increasing complexity of
structures being built, the availability of improved materials and construction equipment.
Typically in manufacturing field, robots are stationary and product moves along the assembly
line. Automation is easier to incorporate because each product is identical with respective tasks
done over and over. However, construction robots face with different demands than conventional
industrial robots. They must move about the site, because buildings are stationary and of a large
size. They require engines, batteries or motors and drive themselves. Construction robots also
faced with changing site conditions and must be reprogrammed with each new condition. They
must be able to function under adverse weather conditions including variations in humidity and
temperature. Additionally, they are constantly exposed to dust and dirt on the site. Thus, there is
a need to develop a robotic system for full-scale experimentation for realistic assessment of
automation in the construction industry. This paper presents some aspects of robotization and
automation and a case study is presented to demonstrate the applicability of robotics in
construction industry.

Key words: Automation, robotics, construction industry, and productivity.

Introduction

The construction industry is conservative in accepting new approaches and is dependent upon the
conventional methods and equipment. Slowly, it is mechanized and computerized, keeping in
view of the time of completion of the project, shortage of labor force, and quality of work to be
executed. It is now looking into the robots for different works for execution. Technology leading
to a higher degree of machine and equipment automation will yield productivity improvement
higher than a skilled worker before full robotization in practice. Construction robots are faced
with problems of changing sites and must be reprogrammed with each new condition. The
primary factors such as need based feasibility, technological feasibility, and economic feasibility
are identified for the use of robots and to evaluate benefits, thereby inviting future robotization
for Indian construction sector.

A robot designed for tasks such as painting, and jointing in buildings certainly result in higher
efficiency with respect to pay load, reach, number of degrees of freedom, etc. Further, the use of
robots in construction will result less use of labor force, there by reducing the risk to the lives of

1
Professor, Department of Civil Engineering, and Director, Artificial Intelligence Centre, University College of
Engineering, Osmania University, Hyderabad – 500 007, Email: vsskumar1958@hotmail.com
2
PG Students, Department of Civil Engineering, University College of Engineering, Osmania University,
Hyderabad – 500 007.

Copyright ASCE 2008 AEI 2008

AEI 2008
 AEI 2008: Building Integration Solutions © 2008 ASCE

the labor, cost of the project, and time for completion. Robotics has been extensively used in
many fields because it enhances workers safety, increases production efficiency, and improves
quality of products. Robot are used in phases of construction work for production of material,
construction of different works (quality control), maintenance and operations (including
inspection and monitoring), and performance in hazardous environment.

Robotization for interior finishing tasks such as painting, plastering, masonry and tiling is an
Downloaded from ascelibrary.org by WALTER SERIALS PROCESS on 10/16/13. Copyright ASCE. For personal use only; all rights reserved.

important element of an integrated and automated building realization system. A building

technology suitable for such system includes precast structural exterior wall components with its
interior finishing works done by a multipurpose robot. The development of the multipurpose
robot enabled a realistic assessment of the productivity of the robotic system and estimation of
costs associated with robotic work. Consequently, these costs could be compared to the cost of
work performed with conventional manual methods. Feasibility of using robots is determined
from comparison of robot verses manual performance of pertinent building tasks. The following
study presents a quantitative assessment of two aspects of robotic feasibility saving in human
labor and its impact on costs.

Literature Review
Rapid advancements in robot technology, control theory, and computer technology will
accelerate automation and vastly broadened the applicability of robots. The growing interest of
construction automation and robotics by various construction professionals leads the application
of robots in civil engineering departments. A small amount of effort spent for identifying the
appropriate tasks will result in more efficient research budgets and more successful deployment
of new technologies. Several studies have identified the different types of construction works for
automation.

Everett (1995) proposed the automation and robotics are solutions to problems in productivity,
quality, safety, and skilled labor availability. He evaluates construction automation and robotics
in the context of their ability to satisfy the often-conflicting demands of managers and owners,
workers, and society. Difference in cultural, economic, and business practices help explain why
construction automation and robotics are generating so much activity and investment in Japan
and so little in the United states.

Kangari and Halpin (2001) have discussed the major factors influencing the robotization of
construction process and provided a model based on fuzzy set theory. Navon (1989) stated that
several tools and techniques have been developed for the optimal design or the selection of a
robot for a given task such as computer simulation, and mathematical techniques. Removal of
existing coatings (mainly lead based primers) is normally done by blast cleaning. Smith (1990)
stated that according to national safety council, 70% of all series injuries to coating workers are
caused by falls. Development of robotic systems for construction applications has advanced
dramatically for the past few years

Kangari (1989) described major factors influencing the robotization of construction processes,
and to provide a model based on fuzzy set theory for feasibility analysis of robots. Major factors
influencing implementation of construction robots are described.
The primary factors driving the adoption of robotics in construction are identified as need-based

Copyright ASCE 2008 AEI 2008

AEI 2008
 AEI 2008: Building Integration Solutions © 2008 ASCE

feasibility, technological feasibility, and economic feasibility. Whittaker and Bandari (1986)
reported that robots were emerging in construction as a way to increase productivity, improve
quality, and decrease hazards to human workers.

However, these industrial robot forms, though necessary, are not sufficient to achieve typical
construction goals. The requirement for multiple capabilities at the automated work site must be
served by multiple cooperative robot agents.
Downloaded from ascelibrary.org by WALTER SERIALS PROCESS on 10/16/13. Copyright ASCE. For personal use only; all rights reserved.

Competitive Advantages

Traditionally, construction requires labor-intensive procedures. Many tasks demand skilled

personnel. Some consider the wages and benefits paid to construction workers to be costly.
Reducing the labor requirements and greatly improves contractors ability to compete. Through
labor savings, Construction robots have the potential to lower building costs dramatically.

As found in other industries, robots typically work faster than humans do. Many believe that
robots are also more dependable. With machines, there is less concern about fluctuating
productivity due to the ups and downs of life. In the construction industry, time is money. Since
these devices are considered faster than humans at work operations, contractors should expect to
complete project sooner. When construction work is finished ahead of schedule, builders save
money due to reduced job site overhead. Additionally, they have an opportunity to bid and work
other project sooner than expected. More ever, building owners are pleased to gain early
occupancy to buildings and a quicker return on their investment. Robots that save time will
make builders more competitive.

Properly designed robots produce a higher quality product than humans; conceivably, building
owners may be more satisfied with the final product. Therefore, contractors should enjoy a
better relationship with their clients and expect to be invited back for additional projects.
Additionally, by using robots when possible, builders are less likely to experience callbacks to
replace defective workmanship.

Safety is an important aspect to any construction project. However, the cost of safety is
significant. Investing in fall protection, personal protective equipment and safety management
can be costly. Some of these costs be reduced if robots are utilized in lieu of humans.

Private construction companies do not invest significant funds for research of new methods.
Much of the research is government sponsored and conducted at universities and government
laboratories. These research endeavors have been conducted primarily to obtain new knowledge
and develop new principles.

Inherent Barriers

There are many barriers that discourage the development and use of construction robots today. It
is customary for the design and construction operations to be handled by two different
companies. According to wing (1992), this is clearly one of the main reasons for the delay of
adopting robotics in construction sector. In the manufacturing industry, the link between design

Copyright ASCE 2008 AEI 2008

AEI 2008
 AEI 2008: Building Integration Solutions © 2008 ASCE

and fabrication is strength with this cooperation; engineers are better able to design for
automation.

Construction robots can eliminate workers from being exposed to dangerous, dirty and heavy
labor, however, they take considerable time for set up, adjusting and clean up. Skilled personnel
are needed to operate and continuously monitor the robots. As noted earlier, single task robots
are limited since they are not capable of identifying and fixing problems in real time. Therefore,
Downloaded from ascelibrary.org by WALTER SERIALS PROCESS on 10/16/13. Copyright ASCE. For personal use only; all rights reserved.

skilled workers must be present during work operations. Some question the labor cost savings by
using single task robots.

More over, robot operators need training, as robots become common on the site, a new bread of
worker will be needed. Special training in computer usage will be mandatory. Workers will need
a stronger background in academic areas such as maths, reading and problem solving to be
productive. Even with robots, contractors must still invest heavily in training and educating the
worker.

Objectives of the Research

The basic objectives of the paper are to

• identify major factors that influence the robotization of construction process,

• identify the parameters depending on the nature of building including the nature of task to
be performed,
• calculate the cost of robot using parameters, and
• develop the robotic system for full-scale experimentation for realistic assessment of
productivity.

Cost elements of Robot

Parameters dependent on the robotic system include cost of work envelope, its speed of
movement and mode of operation. The cost per hour is identified as

C = (P x Pr (I, N) + Cm)/H + Co

Where
P is investment of the robot (including the cost of carriage, effectors, sensors & others
adoptions)
Pr (I, N) is capital recovery factor
Cm is Cost of repairs and high level maintenance of the robot per year.
Co is the Operation g costs per hour and,
H is number of robot employment hours / year.

Copyright ASCE 2008 AEI 2008

AEI 2008
 AEI 2008: Building Integration Solutions © 2008 ASCE

Research Methodology
The methodology for the application of robotics consists of the following steps:
• Identify feasibility and technological and organizational problems for implementation
• Select robot configuration such as pay load capacity, and sensor attributes for each task
• Develop the preprogrammed path to operate the robot by remote control
• Identify the places where robot can reproduce the elements
Downloaded from ascelibrary.org by WALTER SERIALS PROCESS on 10/16/13. Copyright ASCE. For personal use only; all rights reserved.

• Calculate the cost of robot using parameters including depreciation, interest on

investment, maintenance and operating expenses
• Analyze the cost per hour ‘C’ for using robot
• Develop system for full scale experimentation for realistic assessment of productivity
The above research methodology has been adapted to the following case study:

Case Study

The economic analysis for interior building task of painting, plastering, masonry and tiling is
examined with Technion of Autonomous Multipurpose Interior Robot (TAMIR) for the
construction of outpatient block of Rajiv Gandhi Institute of Medical Sciences at Kadapa,
Andhra Pradesh, India.

Setting Out

Fig 1 Setting Out

Placing

Copyright ASCE 2008 AEI 2008

AEI 2008
 AEI 2008: Building Integration Solutions © 2008 ASCE
Downloaded from ascelibrary.org by WALTER SERIALS PROCESS on 10/16/13. Copyright ASCE. For personal use only; all rights reserved.

Fig 2 Placing
Robotized Method
Wall tiling

Fig 3 Wall Tiling

Robotized tile setting consists of these subtasks
• picking a tile from a box (or) cartridge with a vacuum gripper
• receiving glue (or) cement on the reverse side of the tile by pressing it against an ejector,
attached to the robot; and
• placing the tile as its designated place on the wall. Alternatively, cement or glue can be
applied manually on the wall prior to attachment of the tiles by the robot.

Wall tiling time in put for the robot is 0.75 min per tile including picking up the tile, gluing the
tile and placing the tile on the wall. Using 15cm x 15cm tiles; the input is 33 min/m2. The
manual input for the same work is 90 min/m2. It must be noted however that this time includes
measuring and cutting of tiles in irregular surfaces. In well-structured tiling areas, the labor input
will be some what smaller. The number of tiles needed is approximately 45 per m2 or about 900
tiles for a medium sized room. Such number of tiles can be prepackaged on a 50 cm x 50 cm
pallet and pre-placed near the work area are attached to the robot carriage. In addition and
adhesive supply canister must be placed near the robot or attached to it. The cost of material for
both types of work robotized and manual is about the same.

Copyright ASCE 2008 AEI 2008

AEI 2008
 AEI 2008: Building Integration Solutions © 2008 ASCE

Table 1 Cost of Robot per Hour under Various Conditions

Economic Total Cost per Hour (Dollars)
life cycle
n (years)
H = 1,500 h/yr H = 2,000 h/yr
Downloaded from ascelibrary.org by WALTER SERIALS PROCESS on 10/16/13. Copyright ASCE. For personal use only; all rights reserved.

i=5% i=7% i = 10% i=5% i=7% i = 10%

4 35.11 36.23 37.97 26.83 27.68 28.98
5 30.68 31.81 33.55 23.51 24.36 25.66
6 27.74 28.87 30.60 21.30 22.15 23.45

The cost per hour for various alternatives of economic life cycle, interest on investment, and
work hours per year, is shown in Table. It can be seen from Table, that the cost of the robot per
hour is not very sensitive to changes in the rate of interest or to changes in its economic life. It is
however very sensitive to changes in the number of the employment hours per year. The cost of
the robot in the subsequent economic comparison was based on the most plausible alternative of
5 years of economic life, 7% of interest rate, and two employment possibilities-of 1,500 and
2,000 h/yr.

The output of the robot for each task depends on the nature of the task and the amount of time
that the robot has to spend on indirect activities. The burden of indirect activities will be
examined in the context of each task and of the building site where it is executed.

Table 2 Comparison of Robotic versus Manual Performance in Wall Tiling

Variable Robotic Manual
(a) Labor Breakdown
Direct labor 33.33 min/m2 90 min/m 2
Movement between
0.05 min /m 2 -
Stations
Positioning at workstation 0.75 min/m 2 -
Transfer between floors 0.02 min/m 2 -
Setup at site 0.05 min/m 2 -
Maintenance 2.12 min/m 2 -
(b) Total Labor Required
Skilled labor input 36.32 min/m 2 90 min/m 2

Copyright ASCE 2008 AEI 2008

AEI 2008
 AEI 2008: Building Integration Solutions © 2008 ASCE

Conclusions
The use of automation and robotization in construction industry is rapidly expanding and reduce
accidents and improves working conditions of construction workers. The reduction in the
members of highly skilled craftsmen, increase in sophistication of construction materials and
constant demand for increase in quality and reduction of construction time all indicate that
greater degrees of automation will be required in construction industry. Significant advances
Downloaded from ascelibrary.org by WALTER SERIALS PROCESS on 10/16/13. Copyright ASCE. For personal use only; all rights reserved.

have already been made in both large and small scale applications. The main conclusions drawn
from this research are

• Automation and robotics are proposed as solution to problems of productivity, quality,

safety and skilled labor availability.
• The robot can bring considerable savings in skilled manual labor on site. The savings in
skilled labor ranges between 60% - 90% for typical tasks.
• The cost wise comparison of robotized versus manual work depends upon prevailing wages
of labor. The savings may be 10 – 50% in cost of work excluding materials.
• In mechanized manual tasks the cost will be lower than in robotized construction. Some
special requirements should be made to improve the robotic performance in this task.
• The employment of a robot for interior finishing works has considerable potential for
productivity improvement on the building site.
• Under proper planning, robotized method can be reduced in direct construction cost.
• There is constant demand for increase in quality and reduction of construction time.
• Construction managers need to advocate more standardized designs that allow for easier
automation.

In addition to above benefits, using automated construction equipment reduces healthy risks and
potential deaths. This can lead to substantial savings through increased productivity.

Acknowledgements

The authors expresses their sincere thanks to the Department of Science and Technology, Govt.
of India for funding this research work through permit number SR/S3/RM/55/2002 and also
wishes to express gratitude to the Department of Civil Engineering, OU for providing facilities to
carry out this research work.

References
1. Boles, W.W. Maxwell, (1995) “Construction Automation and Robotics, Pathway to
Implementation” Journal of Construction Engineering and Management 121(1), 143-152.
2. Cousinean, (1998) “Construction Robotics the Search for New Building Technology in
Japan” Reston, V.A.ASCE Press.
3. Everret, J.G, (1994) “Automation and Robotics Opportunities Construction Versus
Manufacture” Journal of Construction Engineering and Management, ASCE, 120(2),
443-452.

Copyright ASCE 2008 AEI 2008

AEI 2008
 AEI 2008: Building Integration Solutions © 2008 ASCE

4. Everret, J.G, (1995) “Construction Automation: Demands and Satisfiers in the U.S and
Japan” Journal of Construction Engineering and Management, ASCE. 122(2), 147-151.
5. Gregory, R.A (2001) “Construction Benefits of Robotics in Infrastructure and
Environmental Renewal” Journal of Construction Engineering and Management, ASCE,
6(1), 33-39.
6. Kangari.R and Halpin (1989) “Identification of Factors Influencing Implementation of
Construction Robotics” Journal of Construction Engineering and Management, ASCE
Downloaded from ascelibrary.org by WALTER SERIALS PROCESS on 10/16/13. Copyright ASCE. For personal use only; all rights reserved.

115 (1), 126-143.

7. Krom (1997) “Industrialization and Robotics in Construction” Journal of Construction
Engineering & Management, 111 (3), 260-280.
8. Moore, W. (1999) Working Smarter With Automation, Construction Equipment 99 (4),
44-50.
9. Paulson, B.C. (1984) “Automation and Robotics for Construction” Journal of
Construction Engineering and Management, ASCE, III (3), 190-205.
10. Seward, D.W. (2002) “Automating the Construction Workplace: Positioning and
Navigational factors” Construction Innovation, 167-189.
11. Warszawski, A and Rosenfeld, Y. (1994) “Robot for Interior Finishing of Works in
Building Feasibility Analysis” Journal of Construction Engineering and Management,
ASCE, 124 (1), 31-41.
12. Warszawski, Navon R (1998) “Implementation of Robotics in Building Current Statistics
and Future Prospects, Journal of Construction Engineering and Management, ASCE, 124
(1), 31-41.
13. Yamazaki, Y.M. (1998) “The Smart System on Integrated Application of Automation
and Information Technology in Production Process Completion,” ASCE, 135(1), 87-99.

Copyright ASCE 2008 AEI 2008

AEI 2008