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The invention consists of a 3D print head apparatus that heats and extrudes a regolith-polymer (or other) mixture as part of an additive manufacturing process. The technology includes a securing mechanism, hopper, nozzle, barrel, and heating system. The securing mechanism attaches to a wrist joint of a robotic arm. The hopper, connected to the securing mechanism, has a cavity and a lower aperture. The barrel is an elongated, hollow member with its first end connected to the hopper's lower aperture and its second end connected to the nozzle's upper aperture. The heating system is positioned along the barrel and comprises a heater, thermocouple, insulator, and heating controller. The heating controller activates the heater based on input signals received from the thermocouple. The print head apparatus also includes a feed screw, drive shaft, and motor. The feed screw is positioned within the elongated hollow member of the barrel, and the drive shaft transmits torque to the feed screw. The motor provides torque to the drive shaft. An agitator is secured to the drive shaft, facilitating the consistent movement and mixing of the regolith-polymer mixture in the hopper. The nozzle includes a tube with an open end and an occluded end, allowing the mixture to be extruded through the lower aperture. The jointly developed 3D print head technology enables efficient, large-scale additive construction using in-situ resources, such as regolith or other materials. The innovation reduces the need for transporting materials from Earth and allows for sustainable habitat development on the Moon or Mars. Given its adaptability to different crushed rock-polymer materials, the invention may also serve as an alternative to conventional Portland concrete construction on Earth.

To enable the goal of autonomous assembly of high performing structures, a robot system must be able to travel across a lattice structure in all dimensions, transport and align a unit cell module to the correct location and fasten the module to the existing structure. In this system, a team of multiple mobile bipedal robots work together to carry, transfer, and place 3D-lattice modules (e.g., cuboctahedron voxels) to form a 3D lattice structure. The team of mobile bipedal robots autonomously provide transportation, placement, unpacking, and assembly of voxel modules into functional structures and systems. As the team of mobile bipedal robots live and locomote on the 3D-lattice structure, they monitor health and performance, enabling repair and reconfiguration when needed. The mobile bipedal robots work together in different roles, for example, one as a cargo transport robot and the other as a crane robot. The cargo transport robot and the crane robot work together to move the voxels from one location to another. Each robot includes at least one electronic control module that receives commands from another robot or a central control system. A central control system implements a plan to control the motion sequences of the robots to maximize efficiency and to optimize the work required to completely assemble a structure. The plan is pre-computed or computed during implementation by the central control system or the robots themselves, according to algorithms that utilize the regularity of the lattice structure to simplify path planning, align robotic motions with minimal feedback, and minimize the number of the degrees of freedom required for the robots to locomote across and throughout the 3D-lattice structure and perform structural assembly.