R
R.B. Gillespie
Researcher at Northwestern University
Publications - 3
Citations - 521
R.B. Gillespie is an academic researcher from Northwestern University. The author has contributed to research in topics: Robot kinematics & Control theory. The author has an hindex of 3, co-authored 3 publications receiving 482 citations.
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Journal Article
Cobot architecture
Michael A. Peshkin,James Edward Colgate,Witaya Wannasuphoprasit,Carl A. Moore,R.B. Gillespie,P. Akella +5 more
TL;DR: The kinematics of cobots and the continuously variable transmissions (CVT) that are essential to them are explained and Powered cobots are introduced, made possible by a parallel interconnection of the CVT.
Journal ArticleDOI
A general framework for cobot control
TL;DR: A path following controller is developed that steers the cobot so as to asymptotically approach and follow a pre-planned path.
Proceedings Article
Cobot control
TL;DR: Two fundamental control modes of the unicycle cobot, "virtual caster" and "constraint tracking", are reviewed and it is shown how these transformations play a role in cobot control like that of the Jacobian in robot control.