This thesis has resulted from the research project Rapid Prototyping using Virtual Reality and Robot Milling, which started in at the Faculty of Industrial Design Engineering of Delft University of Technology The project aimed at the development of both virtual and physical shape modeling techniques to support conceptual shape design The thesis focuses on the development of shape sculpturing as an advanced physical shape modeling technique using robot milling The technique has been implemented evaluated and applied on the Sculpturing Robot system at Delft University of Technology.