Cellula Automata Algorithm

for 7-axis robotic milling tool path planning

custom cellular automata algorithm was developed to generate dynamic toolpaths for robotic milling. Each time the model runs, the algorithm produces a new, unique pattern, ensuring that no two pieces are identical. The robot then mills along these computationally derived paths, selectively revealing different layers of wood to create intricate grain patterns.

This study was driven by an interest in understanding the limitations and possibilities of robotic milling when applied to laminated timber. Instead of imposing predetermined aesthetics, the approach allows the process itself to define the final outcome—introducing an entirely new design language that is inherently tied to material performance and digital fabrication constraints.

Institution: University of Pennsylvania

Lab: Advanced Research and Innovation lab

Instructor: Patrick Danahy, Alicia Nahmad Vazquez

Co-Instructor: Mahsa Masalegoo

Lab Managers: Nicholas Sideropoulos, Shunta Moriuchi

In Collaboration with: Burcu Gocen, Zitong Ren, Qingyang Xu.