Robotic fabrication · 2023

Reconstructing the Caryatid

AI-generated bodies, cut and painted by an industrial robot.

Time

3 months
2023.2–2023.5

Team

with Jiin Jeong,
Jingbo Huang

Tools

Stable Diffusion, Houdini, Grasshopper,
Rhino, Processing (OpenCV), ABB IRB 6700

ABB robot arm next to a twisted column with generated cutting paths
01 · What it is

Six columns, imagined by AI and made by a robot.

We took distorted human figures from Stable Diffusion and turned them into foam columns, like a modern caryatid. A robot cut each form with a hot wire, then painted it with strokes that a program generated.

Six painted foam columns displayed on concrete steps
02 · The problem

An AI image is flat, and nobody quite made it.

Stable Diffusion gives expressive bodies, but only as pictures. We wanted to find out two things: how a flat, ambiguous image becomes a real object, and who the author is when a model and a robot share the work.

Grid of Stable Diffusion figure experiments with their prompts

We weren’t after realism. We looked for exaggerated posture, dense contours, and surface energy that could survive the trip into foam.

The prompts stay on the page. They’re part of the record of who made what.

03 · How we solved it

Six steps from prompt to paint.

01Distort

Stable Diffusion makes the figures.

02Abstract

Houdini inflates and smooths them into 3D.

03Slice

Grasshopper turns the form into cut lines.

04Cut

The robot hot-wires a spinning foam block.

05Generate

Processing agents draw strokes along contours.

06Paint

The robot dips a brush and paints five colors.

AI figure, 3D normal-map model, and inflated smoothed form
From picture to mass: keep the gesture, lose the anatomy.
Smoothed figure on a box, hull model, and robot cutting curves
The hull and the curves the robot will cut along.
Robot hot-wire cutting a foam column
CutThe foam melts, drags and tears as it turns.
Stroke agents following color and contour flow
GenerateAgents follow edges and color regions.
Robot painting strokes onto a foam column
PaintOne brush, one color, one stroke at a time.
04 · Result

The machine’s mistakes became the surface.

Melted edges from the hot wire and uneven brush marks stayed on every column. Each one shows the code, the robot, and the material at the same time.

Robot arm beside a painted column
Close-up of a finished painted column
Four finished columns next to the robot

Copyright © 2026 Anqi Wang