TY - JOUR
T1 - Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges, and Opportunities
AU - Cherubini, Andrea
AU - Navarro-Alarcon, David
N1 - Funding Information:
The research presented in this article was carried out as part of the SOPHIA project, which has received funding from the European Union’s Horizon 2020 research and innovation programme under Grant Agreement No. 871237.
Publisher Copyright:
© Copyright © 2021 Cherubini and Navarro-Alarcon.
Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.
PY - 2021/1/7
Y1 - 2021/1/7
N2 - 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 that 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.
AB - 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 that 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.
KW - control systems (CS)
KW - human-robot collaboration (HRC)
KW - human-robot interaction (HRI)
KW - robotics
KW - visual servoing (VS)
UR - http://www.scopus.com/inward/record.url?scp=85099727321&partnerID=8YFLogxK
U2 - 10.3389/fnbot.2020.576846
DO - 10.3389/fnbot.2020.576846
M3 - Review article
AN - SCOPUS:85099727321
SN - 1662-5218
VL - 14
JO - Frontiers in Neurorobotics
JF - Frontiers in Neurorobotics
M1 - 576846
ER -