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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. • We present a survey on the design and active vision control of humanoid robot heads. • The main robotic humanoid heads features are presented. • Context on application fields is provided. • Considerations for robot heads design and control enhancement are proposed. • Directions for design and control are suggested. [ABSTRACT FROM AUTHOR]