WEIHUAN
CHUEH← BACK TO EXPLORATIONS

Publication / Research Manuscript / 2026.08

Human-Gated ASGs from BIM to Assembly

WEI-HUAN CHUEH06 DRAWINGS & IMAGES

RESEARCH OVERVIEW Human-Gated Action Skill Graphs translate BIM-derived component data into assembly actions with explicit constraints, bounded recovery and escalation to a human decision point. The research connects computational design, mixed-reality supervision and accountable robotic execution.

OPEN IN THE UNIVERSE ↗
FIG. 01 / HUMAN-GATED ASGS FROM BIM TO ASSEMBLY
Research manuscript / BIM, robotic assembly & mixed-reality supervision / 2026

RESEARCH OVERVIEW

Human-Gated Action Skill Graphs translate BIM-derived component data into assembly actions with explicit constraints, bounded recovery and escalation to a human decision point. The research connects computational design, mixed-reality supervision and accountable robotic execution.

FIG. 02 / HUMAN-GATED ASGS FROM BIM TO ASSEMBLY
FIG. 03 / HUMAN-GATED ASGS FROM BIM TO ASSEMBLY

SIMULATION STUDY

The manuscript describes a Unity-based digital twin of an eight-actuator cable-driven robot, evaluated on ten assembly scenarios with 38 components each under two uncertainty profiles. These are simulation results rather than a report of completed on-site construction.

FIG. 04 / HUMAN-GATED ASGS FROM BIM TO ASSEMBLY
FIG. 05 / HUMAN-GATED ASGS FROM BIM TO ASSEMBLY
FIG. 06 / HUMAN-GATED ASGS FROM BIM TO ASSEMBLY

READ THE MANUSCRIPT

Download the research manuscript (PDF).

NEXT EXPLORATION ↗

Wilshire / Feasibility Studies