FabRobotics: Fusing 3D Printing with Mobile Robots to Advance Fabrication, Robotics, and Interaction.

We present FabRobotics, a digital fabrication pipeline that combines traditional 3D printing with mobile robots. By integrating these two technologies, we aim to create new opportunities for 3D printers to fabricate objects quickly and efficiently, and for mobile robots to enhance their adaptability and interactivity. To explore this novel research opportunity, we have developed a proof-of-concept implementation pipeline, allowing users to execute hybrid turn-taking control of a 3D printer and mobile robots to autonomously 3D print objects on/with mobile robots. The system was implemented with commercially available 3D printers (Prusa MINI) and mobile robots (toio), and we share various techniques and knowledge specific to fusing 3D printers and mobile robots (e.g. printing mobile robot docks for stable prints on robots). Based on the proof-of-concept system, we demonstrate various application usages and functionalities, showcasing how 3D printing and mobile robots can mutually advance each other for novel fabrication and interaction. Lastly, we share our further exploration of extended prototypes (e.g. fusing two printers) and discuss future technical challenges and research opportunities.