The DOI matches its Crossref record; 8 of the 8 references it cites were found in a registry or an index.
Cobot architecture
Abstract
We describe a new robot architecture: the collaborative robot, or cobot. Cobots are intended for direct physical interaction with a human operator. The cobot can create smooth, strong virtual surfaces and other haptic effects within a shared human/cobot workspace. The kinematic properties of cobots differ markedly from those of robots. Most significantly, cobots have only one mechanical degree of freedom, regardless of their taskspace dimensionality. The instantaneous direction of motion associated with this single degree of freedom is actively servo-controlled, or steered, within the higher dimensional taskspace. This paper explains the kinematics of cobots and the continuously variable transmissions (CVT) that are essential to them. Powered cobots are introduced, made possible by a parallel interconnection of the CVT. We discuss the relation of cobots to conventionally actuated robots and to nonholonomic robots. Several cobots in design, prototype, or industrial testbed settings illustrate the concepts discussed.
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Citations
Cites
Factors affecting the Z-Width of a haptic display
Colgate, J. E., & Brown, J. M. (2002) · Proceedings of the 1994 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1994.351077 · Cited by 635
Self-citationVirtual fixtures: Perceptual tools for telerobotic manipulation
Rosenberg, L. B. (1993) · Proceedings of IEEE Virtual Reality Annual International Symposium · doi:10.1109/vrais.1993.380795 · Cited by 578
Cobots: Robots for Collaboration With Human Operators
Colgate, J. E., Wannasuphoprasit, W., & Peshkin, M. A. (1996) · Dynamic Systems and Control · doi:10.1115/imece1996-0367 · Cited by 379
Self-citationA general framework for cobot control
Gillespie, R. B., Colgate, J. E., & Peshkin, M. A. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.954752 · Cited by 125
Self-citationThe human power amplifier technology at the University of California, Berkeley
Kazerooni, H. (1996) · Robotics and Autonomous Systems · doi:10.1016/s0921-8890(96)00045-0 · Cited by 105
The Human Power Amplifier Technology at the University Of California, Berkeley
Kazerooni, H., & Snyder, T. J. (1996) · IFAC Proceedings Volumes · doi:10.1016/s1474-6670(17)58594-8 · Cited by 28
Cobots: a novel material handling technology
Wannasuphoprasit, W., Akella, P. N., Peshkin, M. A., & Colgate, J. E. (1998) · Cited by 23
Self-citationThe next generation munitions handler advanced technology demonstrator program
Deeter, T. E., Koury, G. J., Rabideau, K. M., et al. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1997.620061 · Cited by 10
Cited by
Human–Robot Interaction: A Survey
Goodrich, M. A., & Schultz, A. C. (2008) · Foundations and Trends® in Human–Computer Interaction · doi:10.1561/1100000005 · Cited by 1,541
Human–Robot Collaboration in Manufacturing Applications: A Review
Matheson, E., Minto, R., Zampieri, E. G. G., Faccio, M., & Rosati, G. (2019) · Robotics · doi:10.3390/robotics8040100 · Cited by 668
Human – robot interaction review and challenges on task planning and programming
Tsarouchi, P., Makris, S., & Chryssolouris, G. (2016) · International Journal of Computer Integrated Manufacturing · doi:10.1080/0951192x.2015.1130251 · Cited by 376
Design Considerations for Safe Human-robot Collaborative Workplaces
Michalos, G., Makris, S., Tsarouchi, P., Guasch, T., Kontovrakis, D., & Chryssolouris, G. (2015) · Procedia CIRP · doi:10.1016/j.procir.2015.08.014 · Cited by 314
Cobots for the automobile assembly line
Akella, P., Peshkin, M., Colgate, E., Wannasuphoprasit, W., Nagesh, N., Wells, J., Holland, S., Pearson, T., & Peacock, B. (2003) · Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) · doi:10.1109/robot.1999.770061 · Cited by 139
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Metadata
- Authors
- Peshkin, M. A., Colgate, J. E., Wannasuphoprasit, W., Moore, C. A., Gillespie, R. B., & Akella, P.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 2001
- Volume
- 17
- Issue
- 4
- Pages
- 377-390
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2293181998
- Cited by
- 365
- References
- 8
- FWCI
- 31.23
- Type
- journal article
- Language
- en
- Open access
- closed
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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