Gait control for guide dog robot to walk and climb a step

Abstract

It is useful to develop robots that can be used instead of guide dogs because the number of the guide dogs is significantly less than that of visually impaired humans demand. This paper describes desired capacity for locomotion such as walking speed and climbing steps that the guide dog robots should have in the practical use in daily life, and proposes the way to stabilize the posture of the robot by controlling roll, pitch and yaw angle detected by a gyro-sensor mounted in the trunk. The guide dog robot is manufactured and verified the practicability by experiments of walking and climbing a step. © 2013 Springer-Verlag GmbH.