Abstract
This paper presents an interactive design system that allows the user to create and fabricate stylized sculptures in water-based clay, using a standard 6-axis robot arm. This system facilitates the materialization of abstract design intentions into clay, through the algorithmic formulation of sculpting styles, the optimal path planning of the sculpting toolpaths, and a subtractive robotic fabrication process using customized tools. Unlike other precision-driven fabrication technologies, the authors embrace artistic uncertainty by conducting manual and robotic sculpting experiments and incorporating prominent parameters that affect the fabrication quality. The versatility of the described approach is demonstrated by designing a series of sculpting styles over a wide range of 3D models and robotically fabricating them in clay. Additionally, the paper explores various strategies for designing stylized robotic sculpting patterns by generating toolpaths informed by different techniques.