Human-Robot Physical Interaction System for Quadruped Guide Robot Based on IMU Data

Abstract

With the advancement of technology, quadrupedal robotic guide dogs have gained significant attention for assisting elderly individuals and visually impaired individuals in their daily mobility. However, human-robot physical interaction during the guide process remains a challenging issue. This paper proposes a physical interactive system for robotic guide dogs using IMU data to address this problem. Firstly, a pose estimation algorithm based on IMU data and upper limb DH modeling is designed to achieve relative pose estimation between the robot and the user in complex environments. Secondly, a user's guiding intention detection algorithm based on the pose estimation result is proposed to automatically detect user comfort and needs and provide appropriate commends to the robot. By applying these algorithms, the robotic guide dog can achieve more precise control of force and speed traction, improving comfort and safety during the guide process. The study results of this paper are expected to promote the widespread application of quadrupedal robotic guide technology in society, providing better mobility assistance for elderly individuals and visually impaired individuals.