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Cobots: Robots for Collaboration With Human Operators
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.
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“In marketing, various forms of mechanical AI have been used to provide a standardization benefit; for example, collaborative robots (cobots) help with packaging (Colgate et al. 1996), drones distribute physical goods, self-service robots deliver service, and service robots automate social presence in frontline (Mende et al. 2019; van Doorn et al. 2017).”
From A strategic framework for artificial intelligence in marketing (2021) · cites this paper as Colgate et al. 1996
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Metadata
- Authors
- Colgate, J. E., Wannasuphoprasit, W., & Peshkin, M. A.
- Affiliations
- Northwestern University (US)
- Venue
- Dynamic Systems and Control
- Published
- 1996-11-17
- Pages
- 433-439
- OpenAlex
- W2979613320
- Cited by
- 379
- References
- 0
- Citations by year
- 2026: 12 · 2025: 31 · 2024: 34 · 2023: 33 · 2022: 32 · 2021: 30 · 2020: 30 · 2019: 21 · 2018: 27 · 2017: 9 · 2016: 6 · 2015: 7 · 2014: 5 · 2013: 6 · 2012: 9
- FWCI
- 7.87
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- Dynamic Systems and Control (publishedVersion)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
- Keywords
- collaborative robots, human-robot collaboration, passivity, steerable wheels, haptic display, motion constraints, robot safety, surgical robotics, automotive assembly
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
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