Material agency describes how material affordances and constraints have the inherent capacity to suggest formal transformations. Digital fabrication typically excludes material agency because it requires the final form is digitally modelled before it can be fabricated. To enrich the fabrication design space with material agency, we introduce 1) a programming grammar that relates the sensing of material states with the transformation of fabrication actions via explicit rule notations; 2) a grammatical compiler that translates these rule notations into a responsive robot executable program; 3) a set of critical reflections on how this grammar enhances the fabrication design space with material agency. Consequently, our contributions broaden digital fabrication to produce intricate material forms that cannot be simulated by geometrical definitions.

物质能动性描述了物质可供性和约束如何具有建议正式转变的内在能力。数字制造通常不包括材料代理，因为它需要在制造之前对最终形式进行数字建模。为了丰富材料代理的制造设计空间，我们引入了1）一种编程语法，通过明确的规则符号将材料状态的感知与制造行为的转换联系起来；2）语法编译器，将这些规则符号翻译成响应式机器人可执行程序；3）关于该语法如何通过材料代理增强制造设计空间的一系列批判性反思。因此，我们的贡献扩大了数字制造的范围，以生产无法通过几何定义模拟的复杂材料形式。