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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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A strategic framework for artificial intelligence in marketing
Huang, M.-H., & Rust, R. T. (2021) · Journal of the Academy of Marketing Science · doi:10.1007/s11747-020-00749-9 · Cited by 2,059
“…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 auto-mate social presence in…”
BackgroundVillani, V., Pini, F., Leali, F., & Secchi, C. (2018) · Mechatronics · doi:10.1016/j.mechatronics.2018.02.009 · Cited by 1,278
Cooperation of human and machines in assembly lines
Krüger, J., Lien, T. K., & Verl, A. W. (2009) · CIRP Annals · doi:10.1016/j.cirp.2009.09.009 · Cited by 846
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
Peshkin, M. A., Colgate, J. E., Wannasuphoprasit, W., Moore, C. A., Gillespie, R. B., & Akella, P. N. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.954751 · Cited by 373
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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
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