Cherubini Andrea, Navarro-Alarcon David
LIRMM, Univ Montpellier, CNRS, Montpellier, France.
Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, Hong Kong.
Front Neurorobot. 2021 Jan 7;14:576846. doi: 10.3389/fnbot.2020.576846. eCollection 2020.
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.
本文的目的是对现有的基于传感器的控制方法进行系统综述，这些方法用于涉及人类与机器人直接交互的应用，交互形式为物理协作或安全共存。为此，我们首先介绍传感器 - 伺服问题的基本公式，然后介绍其最常见的方法：基于视觉的、基于触觉的、基于音频的和基于距离的控制。之后，我们讨论并形式化在控制层面集成异构传感器的方法。所调查的文献根据各种因素进行分类，如：传感器类型、传感器集成方法和应用领域。最后，我们讨论开放问题、潜在应用和未来研究方向。
