Development of a guide-dog robot: Leading and recognizing a visually-handicapped person using a LRF

Shozo Saegusa*, Yuya Yasuda, Yoshitaka Uratani, Eiichirou Tanaka, Toshiaki Makino, Jen Yuan Chang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)


A conceptual Guide-Dog Robot prototype to lead and to recognize a visually-handicapped person is developed and discussed in this paper. Key design features of the robot include a movable platform, human-machine interface, and capability of avoiding obstacles. A novel algorithm enabling the robot to recognize its follower's locomotion as well to detect the center of corridor is proposed and implemented in the robot's human-machine interface. It is demonstrated that using the proposed novel leading and detecting algorithm along with a rapid scanning laser range finder (LRF) sensor, the robot is able to successfully and effectively lead a human walking in corridor without running into obstacles such as trash boxes or adjacent walking persons. Position and trajectory of the robot leading a human maneuvering in common corridor environment are measured by an independent LRF observer. The measured data suggest that the proposed algorithms are effective to enable the robot to detect center of the corridor and position of its follower correctly.

Original languageEnglish
Pages (from-to)194-205
Number of pages12
JournalJournal of Advanced Mechanical Design, Systems and Manufacturing
Issue number1
Publication statusPublished - 2010
Externally publishedYes


  • Autonomous robot
  • Guide dog
  • Human interface
  • Laser range finder (LRF)
  • Welfare system

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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