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

52Citations
Citations of this article
98Readers
Mendeley users who have this article in their library.

Abstract

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.

Cite

CITATION STYLE

APA

Cherubini, A., & Navarro-Alarcon, D. (2021, January 7). Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges, and Opportunities. Frontiers in Neurorobotics. Frontiers Media S.A. https://doi.org/10.3389/fnbot.2020.576846

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Save time finding and organizing research with Mendeley

Sign up for free