Cobots: robots for collaboration with human operators

Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • 96 Citations

Abstract

A 'cobot' is a robotic device which manipulates objects in collaboration with a human operator. A cobot provides assistance to the human operator by setting up virtual surfaces which can be used to constrain and guide motion. While conventional servo-actuated haptic displays may be used in this way also, an important distinction is that, while haptic displays are active devices which can supply energy to the human operator, cobots are intrinsically passive. This is because cobots do not use servos to implement constraint, but instead employ 'steerable' nonholonomic joints. As a consequence of their passivity, cobots are potentially well-suited to safety-critical tasks (e.g. surgery) or those which involve large interaction forces (e.g. automobile assembly). This paper focuses on the simplest possible cobot, which has only a single joint (a steerable wheel). Two control modes of this 'unicycle cobot', termed 'virtual caster' and 'virtual wall' control, are developed in detail. Experimental results are also presented.

LanguageEnglish (US)
Title of host publicationProceedings of the ASME Dynamic Systems and Control Division
EditorsY.W. Kwon, D. Davis, H.H. Chung
PublisherASME
Pages433-439
Number of pages7
Volume58
StatePublished - Dec 1 1996
EventProceedings of the 1996 ASME International Mechanical Engineering Congress and Exposition - Atlanta, GA, USA
Duration: Nov 17 1996Nov 22 1996

Other

OtherProceedings of the 1996 ASME International Mechanical Engineering Congress and Exposition
CityAtlanta, GA, USA
Period11/17/9611/22/96

Fingerprint

Display devices
Robots
Servomotors
Surgery
Automobiles
Wheels
Robotics

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

Cite this

Colgate, J. E., Wannasuphoprasit, W., & Peshkin, M. A. (1996). Cobots: robots for collaboration with human operators. In Y. W. Kwon, D. Davis, & H. H. Chung (Eds.), Proceedings of the ASME Dynamic Systems and Control Division (Vol. 58, pp. 433-439). ASME.
Colgate, James Edward ; Wannasuphoprasit, Witaya ; Peshkin, Michael Aaron. / Cobots : robots for collaboration with human operators. Proceedings of the ASME Dynamic Systems and Control Division. editor / Y.W. Kwon ; D. Davis ; H.H. Chung. Vol. 58 ASME, 1996. pp. 433-439
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Colgate, JE, Wannasuphoprasit, W & Peshkin, MA 1996, Cobots: robots for collaboration with human operators. in YW Kwon, D Davis & HH Chung (eds), Proceedings of the ASME Dynamic Systems and Control Division. vol. 58, ASME, pp. 433-439, Proceedings of the 1996 ASME International Mechanical Engineering Congress and Exposition, Atlanta, GA, USA, 11/17/96.

Cobots : robots for collaboration with human operators. / Colgate, James Edward; Wannasuphoprasit, Witaya; Peshkin, Michael Aaron.

Proceedings of the ASME Dynamic Systems and Control Division. ed. / Y.W. Kwon; D. Davis; H.H. Chung. Vol. 58 ASME, 1996. p. 433-439.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Colgate JE, Wannasuphoprasit W, Peshkin MA. Cobots: robots for collaboration with human operators. In Kwon YW, Davis D, Chung HH, editors, Proceedings of the ASME Dynamic Systems and Control Division. Vol. 58. ASME. 1996. p. 433-439