Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges, and Opportunities

Andrea Cherubini, David Navarro-Alarcon
2021 Frontiers in Neurorobotics  
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe coexistence. To this end, we first introduce the basic formulation of the sensor-servo problem, and then, present its most common approaches: vision-based, touch-based, audio-based, and distance-based control. Afterwards, we discuss and formalize the methods
more » ... t integrate heterogeneous sensors at the control level. The surveyed body of literature is classified according to various factors such as: sensor type, sensor integration method, and application domain. Finally, we discuss open problems, potential applications, and future research directions.
doi:10.3389/fnbot.2020.576846 pmid:33488375 pmcid:PMC7817623 fatcat:5c3l67mfknctpdek5t2qac6jfe