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Understanding User Preferences of a Slope-Aware Variable-Admittance Filter for a Robot Guide Dog

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

This letter investigates how the parameters of a slope-aware variable-admittance filter influence user preferences in force-based interaction with a robotic guide dog for visually impaired individuals. The proposed system consists of a quadruped robot equipped with a sensor-free rigid handle for physical guidance. The framework combines path following, momentum-based interaction-wrench estimation, and a variable-admittance filter whose stiffness and damping are adapted online from slope information extracted by the robot's depth camera. The adaptation policies are evaluated through high-fideli

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