The aim of this thesis is to investigate techniques to improve the interaction between humans and collaborative robots (i.e. robots which shares the workplace with humans without barrier and without exposing the human to risks) exploiting Artificial Intelligence and Computer Vision techniques. To highlight the effectiveness and the potential of Computer Vision (CV) applied to Robotics and to analyze how the Human-Robot Interaction might be powered leveraging the CV exper- tise, three cases of study, set in three different contexts, are developed for the UR5 cobot (developed by Universal Robots) and the required algorithms are developed using state-of-the- art methods. The first is set in a television studio where the television presenter moves in the studio and the robotic arm follows him using a face-tracking algorithm.