Height–Velocity Modulation in Robotic 3D Concrete Printing Dataset

This dataset contains the measured and modeled data supporting the study "Height–Velocity Modulation in Robotic 3D Concrete Printing," conducted at the University of Michigan's Robotics Department and Taubman College of Architecture and Urban Planning. The work presents a feed-forward kinematic framework that mitigates over-extrusion at same-layer toolpath intersections in robotic 3D concrete printing (3DCP) by coordinating a nozzle height modifier with tool-path velocity under a fixed volumetric flow rate. The data span three categories: calibration coupons, offline rheometry of the fresh mortar, and full-scale wall measurements together with feed-forward deposition-model output. Six CSV files are provided, along with a README.txt describing every file, column, and unit in detail. coupon_measurement.csv — caliper measurements of the single-layer calibration coupons at height modifiers 0.6, 0.7, and 0.8, across two print sets. Used to select the height modifier by its effect on bead height. rheometry_visc.csv and rheometry_stress_yield.csv — offline plastic-viscosity and static-yield-stress measurements of the fresh mortar over time, underlying the open-time and buildability analysis. data_measurements.csv — per-measurement bead-width and layer-height data from the fabricated lattice wall, grouped by intersection type (straight two-wing, one-wing, wing-free, and angled crossings). bulge_sweep.csv and bulge_sweep_flat.csv — feed-forward deposition-model output for the modulated and nominal (unmodulated) toolpaths, respectively, sweeping the retention fraction to bound the retained intersection overlap. Note: the per-measurement wall data were pooled by intersection type; the specific layer of origin was not recorded for individual measurements. The rheometric parameters reported in the associated manuscript (η₀ ≈ 140 Pa·s, τy,0 ≈ 1.1 kPa) are fitted t=0 intercepts of the viscosity and yield-stress models rather than measured points, and the open-time threshold (topen ≈ 18.2 min) is obtained by extrapolation of the fitted viscosity model beyond the last measured point. The README documents these details for each file. The dataset enables reproducible research in geometry-aware toolpath control, intersection over-extrusion compensation, and deposition modeling for extrusion-based additive manufacturing. It is released under a Creative Commons Attribution 4.0 International (CC BY 4.0) license.