Towards A Motion Grammar for Robotic Stereotomy

This paper presents progress towards the definition of a motion grammar for robotic stereotomy. It describes a vocabulary of motions able to generate complex forms by cutting, slicing, and/or carving 3-D blocks of material using a robotic arm and a custom made cutting tool. While shape grammars usually deal with graphical descriptions of designs, a motion grammar seeks to address the 3-D harmonic movements of machine, tool, and material substrate choreographically, suggesting motion as a generative vehicle of exploration in both designing and making. Several models and prototypes are presented and discussed.