Fig. 1. Hanging wall construction robot The wall construction robot developed by Essen University in Duisburg, Germany, can realize semi-automatic brick masonry, as shown in Figure 1. The robot has a dead weight of 250 kg. The sensor 1 is used to receive the signal, so that the fixture device in the actuator 1 is clamped, and then the position of the end actuator is changed by the wire rope driven by the motor to realize the brick installation. In addition, mechanical sensors based on piezoresistive strain type design principle and digital filtering technology can be used to monitor the stress of bricks in real time, so as to save the time of repositioning and installation of bricks due to too small force.