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Title: | Sensor-based control for collaborative robots : fundamentals, challenges, and opportunities | Authors: | Cherubini, A NavarroAlarcon, D |
Issue Date: | Jan-2021 | Source: | Frontiers in neurorobotics, Jan. 2021, v. 14, 576846 | 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. | Keywords: | Control systems (CS) Human-robot collaboration (HRC) Human-robot interaction (HRI) Robotics Visual servoing (VS) |
Publisher: | Frontiers Research Foundation | Journal: | Frontiers in neurorobotics | EISSN: | 1662-5218 | DOI: | 10.3389/fnbot.2020.576846 | Rights: | © 2021 Cherubini and Navarro-Alarcon. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY) (https://creativecommons.org/licenses/by/4.0/). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. The following publication Cherubini A and Navarro-Alarcon D (2021) Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges, and Opportunities. Front. Neurorobot. 14:576846 is available at https://doi.org/10.3389/fnbot.2020.576846 |
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