A literature review of sensor heads for humanoid robots

We conducted a literature review on sensor heads for humanoid robots. A strong case is made on topics involved in human-robot interaction. Having found that vision is the most abundant perception system among sensor heads for humanoid robots, we included a review of control techniques for humanoid active vision. We provide historical insight and inform on current robotic head design and applications. Information is chronologically organized whenever possible and exposes trends in control techniques, mechanical design, periodical advances and overall philosophy. We found that there are two main types of humanoid robot heads which we propose to classify as either non-expressive face robot heads or expressive face robot heads. We expose their respective characteristics and provide some ideas on design and vision control considerations for humanoid robot heads involved in human-robot interactions. (C) 2021 The Author(s). Published by Elsevier B.V.

Automated summary

This study reviewed the literature on sensor heads for humanoid robots, focusing on topics related to human-robot interaction. The research found that vision is the most common perception system among sensor heads for humanoid robots, and provided insights into control techniques for humanoid active vision. The paper organized information chronologically, revealing trends in control techniques, mechanical design, periodical advances, and overall philosophy, as well as proposing a classification of humanoid robot heads into non-expressive and expressive types.