MR-Based Human–Robot Collaboration for Iterative Design and Construction Method

The current building industry is facing challenges of labor shortages and labor-intensive practices. Effectively collaborating with robots will be crucial for industry upgrading. This research introduces a MR iterative design and robot-assisted construction mode based on human–robot collaboration, facilitating an integrated process innovation from design to construction. The development of the ROCOS (Robot Collaboration System) comprises three key aspects: (1) Layout Stage: using MR technology to layout the site, forming a full-scale integrated virtual and physical digital twin design environment. (2) Design Stage: conducting virtual iterative design in the digital twin environment and automatically simulating assembly processes. (3) Assembly Stage: translating simulated results into assembly path commands and driving a robotic arm to perform actual assembly. In the end, this research setup two experiments to examine the feasibility of this iterative design–construction loop script. The results showed that although the presence of obstacles reduced the designer’s freedom and increased the number of steps, the designer could still finish both tasks. This means that the ROCOS has value in the prototype of human–robot collaboration. In addition, some valuable findings from users’ feedback showed that potential improvements can be addressed in operability, customization, and real construction scenarios.