Rensselaer Polytechnic Institute
Log In
Search
John Wen on Google Scholar John Wen on ResearchGate John Wen on LinkedIn @ISE_RPI Twitter
  1. Home
  2. Research
  3. Grants
  4. Teaming for Composite Ply Lay-up and Conforming,

Teaming for Composite Ply Lay-up and Conforming,

Funding Organization: 

ARM Institute (subcontract from Boeing)

Principal Investigator: 

John T. Wen

Dates: 
August 1, 2019 to November 8, 2020
Amount: 
$172,500
Grant Status: 
Completed
Abstract: 

This project develops human-robot collaboration strategy for composites lay-up in aerospace manufacturing.  Current manufacturing process is manual and labor intensive.  We have developed human-robot collaboration strategy based on a dual-arm robot (Baxter) mounted on an omni-directional mobile base.  The software control architecture is based on Robot Operating System (ROS) and Robot Raconteur.  Using a 3D sensor mounted on the robot torso to detect human hand positions and arm gestures, force sensor from the robot grippers, and voice command from the user, the robot can follow the human lead and maintain tension on the fabric.  The project prime is the Boeing Company (St. Louis, MO) with subcontracts to RPI and University of Southern California.