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

  title={Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges, and Opportunities},
  author={Andrea Cherubini and David Navarro-Alarcon},
  journal={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… 

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