Cobot photo gallery

"Unicycle" cobot, the simplest possible architecture. It consists of a single wheel steered by a motor. Despite its simplicity, the unicycle cobot is able to demonstrate the two essential control modes: "free" mode in which the wheel is steered such as to transparently comply with the user's desired direction of motion, and "virtual surface" mode in which the wheel is steered such as to confine the user's motion to a software-defined guiding surface.

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"Scooter", a three-wheeled cobot. In "free" mode Scooter can allow arbitrary motion in three coordinates: x, y, and theta. Scooter can also display software-defined guiding surfaces which are one or two dimensional.

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"Tetrahedral CVT", or Continuously Variable Transmission. The angular velocities of the two shafts on the left are coupled via a transmission ratio which is set by the angle of the steering rollers on the right. This device is the analog of the rolling wheel that is used in translational cobots such as Scooter. Wheels are appropriate for translational motions, but arm-like cobots (having the architecture of today's arm-like robots) will need a device appropriate to revolute motion.

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"Extreme Joystick", built by Julio J. Santos-Munné, presents virtual surfaces and other haptic effects in rotational space.

Witaya Wannasuphoprasit, with Scooter.

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Arm cobot, uses three revolute joints coupled by three CVTs in the base. Under construction by Carl Moore.

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Door unloader scooter-like cobot, at General Motors

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Carl Moore, with tetrahedral CVT prototype

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First human passenger on a cobot, November 12, 1996