With the advancement in sensor technology and algorithms, robots can now overcome many limitations and work alongside humans. In general, robots can be categorized as industrial robots or service robots. Industrial robots aim to enhance product yields by instantaneously improving manufacturing flows. Service robots can be defined as semi-automated or fully-automated, mobile or fixed programmable mechanical devices embedded with sensing, actuation, and computing components. This gives them sensory, responsive, and cognitive capabilities that allow them to independently perform customized services or accomplish tasks by working together with humans.