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

Andrea Cherubini, David Navarro-Alarcon

Research output: Journal article publicationReview articleAcademic researchpeer-review

45 Citations (Scopus)


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.

Original languageEnglish
Article number576846
JournalFrontiers in Neurorobotics
Publication statusPublished - 7 Jan 2021


  • control systems (CS)
  • human-robot collaboration (HRC)
  • human-robot interaction (HRI)
  • robotics
  • visual servoing (VS)

ASJC Scopus subject areas

  • Biomedical Engineering
  • Artificial Intelligence


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