The learning cobot

E. S. Boy, E. Burdet, C. L. Teo, Ed Colgate

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

4 Scopus citations

Abstract

Cobots (COllaborative roBOTS) are passive devices that assist humans by guiding motion along software-defined paths. This paper introduces intuitive and efficient tools to design such paths. The operator creates a guiding path by walk-through path programming, tracing a path in free mode. A B-spline fit to this path becomes the guideway. The operator can locally define and modify the B-spline guiding path by moving the control points on a dedicated graphical user interface using a computer mouse. During movement, the operator avoids obstacles and handles sensing errors by using the elastic path planner to deviate from the guiding path. Collaborative learning lets the operator optimize a guiding path in a few tries to adapt it to the specific task and environment. These tools have been implemented and extensively tested on the Scooter cobot.

Original languageEnglish (US)
Title of host publicationDynamic Systems and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages867-873
Number of pages7
ISBN (Print)0791836290, 9780791836293
DOIs
StatePublished - Jan 1 2002

ASJC Scopus subject areas

  • Mechanical Engineering

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    Boy, E. S., Burdet, E., Teo, C. L., & Colgate, E. (2002). The learning cobot. In Dynamic Systems and Control (pp. 867-873). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2002-33833