理解用户对用于机器人导盲犬的坡度感知可变导纳滤波器的偏好
Understanding User Preferences of a Slope-Aware Variable-Admittance Filter for a Robot Guide Dog
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中文总结 AI 辅助
本文研究坡度感知可变导纳滤波器参数对用户与机器人导盲犬力交互偏好的影响，提出结合路径跟踪、动量估计和在线调整刚度的框架，实验表明上坡增刚度、下坡减刚度可改善性能。
中文摘要 AI 辅助
本文研究了坡度感知可变导纳滤波器的参数如何影响视障人士与机器人导盲犬进行力交互时的用户偏好。所提出的系统由一个四足机器人组成，该机器人配备了一个无传感器的刚性手柄用于物理引导。该框架结合了路径跟踪、基于动量的交互力估计以及一个可变导纳滤波器，其刚度和阻尼根据机器人深度相机提取的坡度信息在线调整。通过高保真仿真和一项涉及蒙眼视力正常参与者的受试者研究来评估自适应策略。使用田口L9实验设计比较了多种策略。初步主效应结果表明，上坡时增加刚度、下坡时减小刚度可改善客观和主观指标，而阻尼没有显著的主效应。
英文摘要
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-fidelity simulations and a human-subject study involving blindfolded sighted participants. Multiple strategies are compared using a Taguchi L9 design of experiments. Preliminary main-effect results suggest that increasing stiffness uphill and decreasing it downhill improves both objective and subjective metrics, whereas damping shows no significant main effect.
