Cobot architecture

Peshkin, Michael A.; Colgate, J. Edward; Wannasuphoprasit, Witaya; Moore, Carl A.; Gillespie, R. Brent; Akella, P.

doi:10.1109/70.954751

Cited by 325 publications

(177 citation statements)

References 14 publications

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“…whereas N d is given by (7). In plain words, the first two constraints model the dissipative nature of the control by brakes approach.…”

Section: A Optimal Problemmentioning

confidence: 99%

“…The authors propose a set of possible control laws that could be implemented through a mechanical wrist consisting of un-powered hydraulic cylinders and variable stiffness connections. This approach has been adopted in [7], [8] for realising the Cobot walking assistant. A Cobot is a robotic device composed of a cane with a caster wheel equipped with a servo motor for actuating the steering angle.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Unicycle steering by brakes: A passive guidance support for an assistive cart

Fontanelli

Giannitrapani

Palopoli

et al. 2013

52nd IEEE Conference on Decision and Control

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Abstract-Very often the decline of the cognitive abilities related to age determines a gradual withdrawal of older adults within the domestic walls. Part of the problem is the difficulty in navigating in large and crowded environments that are perceived as intimidating by users with declining cognitive and sensitive ability. To alleviate this problem, we propose a walking assistant endowed with autonomous sensing and active brakes able to guide the user. In this paper, we address the problem of how to guide the user with a minimal impact on her/his freedom of motion. We propose a solution based on the use of an active braking system which can be easily accommodated on commercial walkers. The paper proposes a control strategy that strikes an interesting solution to guide the user through the optimal path without restricting her/his freedom of motion.

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“…whereas N d is given by (7). In plain words, the first two constraints model the dissipative nature of the control by brakes approach.…”

Section: A Optimal Problemmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Unicycle steering by brakes: A passive guidance support for an assistive cart

Fontanelli

Giannitrapani

Palopoli

et al. 2013

52nd IEEE Conference on Decision and Control

View full text Add to dashboard Cite

show abstract

“…Cranes and balancers allow gravity compensation. The work in [18] defines cobots as robots designed for direct physical interaction with the workers while their design is subject to research until today [19]. Cobots are next to the users and can overcome inertia and friction forces, but do not allow pre-programmed (autonomous) movements.…”

Section: Human-robot Interaction In the Industrial Environmentmentioning

confidence: 99%

First Application of Robot Teaching in an Existing Industry 4.0 Environment: Does It Really Work?

et al. 2016

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This article reports three case studies on the usability and acceptance of an industrial robotic prototype in the context of human-robot cooperation. The three case studies were conducted in the framework of a two-year project named AssistMe, which aims at developing different means of interaction for programming and using collaborative robots in a user-centered manner. Together with two industrial partners and a technological partner, two different application scenarios were implemented and studied with an off-the-shelf robotic system. The operators worked with the robotic prototype in laboratory conditions (two days), in a factory context (one day) and in an automotive assembly line (three weeks). In the article, the project and procedures are described in detail, including the quantitative and qualitative methodology. Our results show that close human-robot cooperation in the industrial context needs adaptive pacing mechanisms in order to avoid a change of working routines for the operators and that an off-the-shelf robotic system is still limited in terms of usability and acceptance. The touch panel, which is needed for controlling the robot, had a negative impact on the overall user experience. It creates a further intermediate layer between the user, the robot and the work piece and potentially leads to a decrease in productivity. Finally, the fear of the worker of being replaced by an improved robotic system was regularly expressed and adds an additional anthropocentric dimension to the discussion of human-robot cooperation, smart factories and the upcoming Industry 4.0.

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“…Cobot is a proprietary technology capable of providing smooth yet extremely strong constraints through the use of non-holonomic constraints (Wannasuphoprasit, 1998, Peshkin, 2001. A steered wheel, un-powered about its rolling axis, creates a relationship between the two components of its linear velocity.…”

Section: Enhanced Operator Interfacementioning

confidence: 99%

Semi-autonomous Telerobotic Manipulation: A Viable Approach for Space Structure Deployment and Maintenance

Park

Kang

Ewing

et al. 2005

AIP Conference Proceedings

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Abstract. Future space explorations necessitate manipulation of space structures in support of extra vehicular activities or extraterrestrial resource exploitation. In these tasks robots are expected to assist or replace human crew to alleviate human risk and enhance task performance. However due to the vastly unstructured and unpredictable environmental conditions, automation of robotic task is virtually impossible and thus teleoperation is expected to be employed. However teleoperation is extremely slow and inefficient. To improve task efficiency of teleoperation, this work introduces semi-autonomous telerobotic operation technology. Key technological innovations include implementation of reactive agent based robotic architecture and enhanced operator interface that renders virtual fixture.

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Cobot architecture

Cited by 325 publications

References 14 publications

Unicycle steering by brakes: A passive guidance support for an assistive cart

Unicycle steering by brakes: A passive guidance support for an assistive cart

First Application of Robot Teaching in an Existing Industry 4.0 Environment: Does It Really Work?

Semi-autonomous Telerobotic Manipulation: A Viable Approach for Space Structure Deployment and Maintenance

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