This paper introduces the Guide Dog System using a robot arm as a harness. The robot arm figures out the user’s commands by calculating the external force applied by the visually impaired person to the quadruped robot at every moment, and the quadru...
This paper introduces the Guide Dog System using a robot arm as a harness. The robot arm figures out the user’s commands by calculating the external force applied by the visually impaired person to the quadruped robot at every moment, and the quadruped robot carries out the command. We propose a method using the impedance control and gravity compensation to ensure that the external forces between the quadruped robot and the robot arm do not interfere with gait control. The operating system is also not significantly different from the existing guide dog system. Therefore, this is an intuitive and stable guide dog robot system.