Cited by 379Teleoperation and Haptic SystemsRobot Manipulation and LearningControl and Dynamics of Mobile Robots

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Cobots: Robots for Collaboration With Human Operators

Colgate, J. Edward, Wannasuphoprasit, Witaya, Peshkin, Michael A.·1996·Dynamic Systems and Control

DOI 10.1115/imece1996-0367

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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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Authors: Colgate, J. E., Wannasuphoprasit, W., & Peshkin, M. A.
Affiliations: Northwestern University (US)
ORCID: Colgate, J. Edward
Wannasuphoprasit, Witaya
Peshkin, Michael A.
Venue: Dynamic Systems and Control
Publisher: American Society of Mechanical Engineers
Published: 1996-11-17
Pages: 433-439
DOI: 10.1115/imece1996-0367
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
Licence: www.asme.org/publications-submissions/publishing-information/legal-policies (vor)
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

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Cobots: Robots for Collaboration With Human Operators

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