论文标题
视力障碍的四倍指导机器人：一种基于舒适的方法
Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach
论文作者
论文摘要
可以指导人们并避免各种障碍的指导机器人可能会以相当低的成本拥有更多的视觉障碍者拥有。以前的大多数针对视障人士的指导机器人都忽略了人类的反应行为和舒适性，将人类视为机器人拖动的附属物，这可能导致人类对人类的不精确指导，并突然发生了人类所经历的牵引力。在本文中，我们提出了一个具有基于舒适的概念的新颖四倍的指导机器人系统。我们设计了一种可控的牵引装置，可以调节人和机器人之间的长度和力，以确保舒适度。为了使人类在复杂环境中安全，舒适地引导到目标位置，我们提出的人类运动计划者可以通过基于力的人类运动模型来计划牵引力。为了跟踪计划的力量，我们还提出了一个机器人运动计划器，该计划者可以生成特定的机器人运动命令并设计力控制装置。我们的系统已部署在Unitree Laikago四倍平台上，并在现实情况下进行了验证。
Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response behavior and comfort, treating the human as an appendage dragged by the robot, which can lead to imprecise guidance of the human and sudden changes in the traction force experienced by the human. In this paper, we propose a novel quadruped guidance robot system with a comfort-based concept. We design a controllable traction device that can adjust the length and force between human and robot to ensure comfort. To allow the human to be guided safely and comfortably to the target position in complex environments, our proposed human motion planner can plan the traction force with the force-based human motion model. To track the planned force, we also propose a robot motion planner that can generate the specific robot motion command and design the force control device. Our system has been deployed on Unitree Laikago quadrupedal platform and validated in real-world scenarios.
