Subtractive Syntax

Shaping Ceramics with Robotics

Robotic subtraction as an extension of ceramic craftsmanship

Research Project · Harvard MDE
Role: Computational Design · Robotic Fabrication · Toolpath Strategy · ABB + Grasshopper
Team: Hana Khurshid, Mark Philip, Isabelle Lee, Constanza Pinto, Anika Koshy

Exhibited at OFA (Harvard Office for the Arts) June '25 - Aug '25

Subtractive Syntax explores the intersection of robotics and ceramics, examining how robotic fabrication can extend traditional craft practices through precision and repeatability. Treating clay as a programmable material, the project employs subtractive manufacturing to carve complex geometries, adaptive surface textures, and clean modular edges that would be difficult to achieve through manual processes alone.

The fabrication workflow is structured around a sequence of robotic tool passes using custom end effectors: a roughing pass establishes overall form, a smoothing pass refines surface continuity, and a cutting pass defines precise brick boundaries. Applied iteratively across modular units, this approach enables controlled material removal and fine-grained surface articulation at scale.

By integrating computational design with robotic precision, Subtractive Syntax reframes automation as an extension of craftsmanship rather than a replacement. The project demonstrates how subtractive processes can support high-speed production and large-volume scalability while preserving material sensitivity and expressive variation in ceramic systems.

Fabrication Workflow

The fabrication process was driven by a custom computational pipeline developed in Grasshopper, where toolpaths were generated directly from geometric parameters rather than predefined forms. Clay was treated as a responsive material, with toolpath logic adjusted in real time to account for material resistance, deformation, and removal behavior.

Instead of custom CNC tooling, the project repurposed traditional clay-working tools as robotic end effectors. Loop tools, ribs, and cutting implements were mounted to the robotic arm, allowing material-sensitive carving while maintaining the expressive qualities of hand ceramics. This hybrid approach combined computational precision with tactile tool logic, enabling high-resolution surface articulation through subtractive passes.