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Title: The learning cobot
Authors: Boy, E.S.
Burdet, E. 
Teo, C.L. 
Colgate, J.E.
Issue Date: 2002
Citation: Boy, E.S.,Burdet, E.,Teo, C.L.,Colgate, J.E. (2002). The learning cobot. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC 71 : 867-873. ScholarBank@NUS Repository.
Abstract: Cobots (COllaborative roBOTS) are passive devices that assist humans by guiding motion along software-defined paths. This paper introduces intuitive and efficient tools to design such paths. The operator creates a guiding path by walk-through path programming, tracing a path in free mode. A B-spline fit to this path becomes the guideway. The operator can locally define and modify the B-spline guiding path by moving the control points on a dedicated graphical user interface using a computer mouse. During movement, the operator avoids obstacles and handles sensing errors by using the elastic path planner to deviate from the guiding path. Collaborative learning lets the operator optimize a guiding path in a few tries to adapt it to the specific task and environment. These tools have been implemented and extensively tested on the Scooter cobot.
Source Title: American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
DOI: 10.1115/IMECE2002-33833
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