Microscale digital twinning of rubble stone masonry walls using robotic assembly

This paper presents a novel method for generating microscale digital twins of rubble stone masonry walls using a robotic construction pipeline. The pipeline integrates stone stock digitalization, stone layout planning, robotic stone assembly, and a dynamic digital twinning process. To validate the approach, a 0.7 × 0.7 × 0.4 m3 wall was physically constructed in the lab alongside its digital twin, which provided a precise representation of the wall’s microstructures. The results show that the proposed pipeline achieved accurate stone assembly with an averaged ±1.2 cm tolerance, producing walls comparable to traditional masonry in terms of compressive strength.