Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction
An autonomous robot that is able to physically guide humans through narrow and cluttered spaces could be a big boon to the visually-impaired. Most prior robotic guiding systems are based on wheeled platforms with large bases with actuated rigid guiding canes. The large bases and the actuated arms limit these prior approaches from operating in narrow and cluttered environments. We propose a method that introduces a quadrupedal robot with a leash to enable the robot-guiding-human system to change its intrinsic dimension (by letting the leash go slack) in order to fit into narrow spaces. We propose a hybrid physical Human Robot Interaction model that involves leash tension to describe the dynamical relationship in the robot-guiding-human system. This hybrid model is utilized in a mixed-integer programming problem to develop a reactive planner that is able to utilize slack-taut switching to guide a blind-folded person to safely travel in a confined space. The proposed leash-guided robot framework is deployed on a Mini Cheetah quadrupedal robot and validated in experiments.
This work was supported in part by the National Science Foundation Grant CMMI-1944722. The MiniCheetah is sponsored by MIT Biomimetic Robotics Lab & NAVER LABS.
Видео Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction канала Hybrid Robotics
This work was supported in part by the National Science Foundation Grant CMMI-1944722. The MiniCheetah is sponsored by MIT Biomimetic Robotics Lab & NAVER LABS.
Видео Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction канала Hybrid Robotics
Показать
Комментарии отсутствуют
Информация о видео
Другие видео канала
Safety-Critical Geometric Control for Systems on ManifoldsRule-Based Safety-Critical Control Design using CBFs with Application to Autonomous Lane Change400m dash - RL for Versatile, Dynamic, and Robust Bipedal Locomotion ControlSupplementary Walking Experiments - RL for Versatile, Dynamic, and Robust Bipedal Locomotion ControlOptimal Robust Safety-Critical Control for Dynamic RoboticsHierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal RobotDynamic Legged Manipulation of a Ball through Multi-Contact OptimizationDynamic Walking on Stepping Stones with Gait Library and Control Barrier FunctionsGaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with UncertaintyDeep Visual Perception for Dynamic Walking on Discrete TerrainSupplementary Running Experiments - RL for Versatile, Dynamic, and Robust Bipedal Locomotion ControlDynamic Walking on Randomly-Varying Discrete Terrain with One-step PreviewDynamic Walking on Randomly-Varying Discrete Terrain with One-step PreviewCompetitive Car Racing with Multiple VehiclesReinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion ControlSafe Teleoperation of Dynamic UAVs through Control Barrier FunctionsGeometric L1 Adaptive Attitude Control for Quadrotor UAVMotion Planning and Feedback Control for Bipedal Robots riding a Snakeboard3D Dynamic Walking on Stepping Stones with Control Barrier FunctionsRobust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement LearningDifferential Flatness based Direct Collocation for a Quadrotor with a Cable-Suspended Payload