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

The DOI matches its Crossref record.

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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Metadata

Authors
Colgate, J. E., Wannasuphoprasit, W., & Peshkin, M. A.
Affiliations
Northwestern University (US)
ORCID
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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