Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges and Opportunities
It addresses the problem of enabling safe and effective collaboration between humans and robots, but it is incremental as it reviews existing methodologies rather than introducing new ones.
This paper provides a systematic review of sensor-based control methods for human-robot interaction, covering vision, touch, audio, and distance-based approaches, and discusses integration techniques and future directions.
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, then present the 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 the type of sensor, to the way multiple measurements are combined, and to the target objectives and applications. Finally, we discuss open problems, potential applications, and future research directions.