Intelligent robot systeos which operate in a semiautonomous fashion (i.e. , the operator serves only as a high level supervisor) require the integration of sensors and mechanisms cour.)leA by intelligent software. since such robot syste.as operate in the real worl] with imperfect knowledge of that worll, error recovery is an important aspect of any control strategy. Configured with a 6 degree-of-freedom robot manipulator, two dimensional vision and force sensing, the Sensor driven Robot Systems Testbed offers an environment for the development of control concepts for intelligent machine systems. The Sensor Driven Robot Systems Testbed has led to the development of active sensing concepts using complementary sensors and a highly modular control software concept. Both concepts are currently being implemented within the testbed environment.