Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning
Pietro Balatti,Idil Ozdamar,Doganay Sirintuna,Luca Fortini,Mattia Leonori,Juan M. Gandarias,Arash Ajoudani,Pietro Balatti,Idil Ozdamar,Doganay Sirintuna,Luca Fortini,Mattia Leonori,Juan M. Gandarias,Arash Ajoudani
This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, trave...
