# 面向机器人导盲犬的坡度感知可变导纳滤波器用户偏好理解

> 原文链接：https://robotics.hellobike.com/papers/2026-09-14-2609-15362
> 频道：papers | 更新日期：2026-09-14 | 标签：arxiv, cs.RO
> 核心摘要：研究坡度感知可变导纳滤波器参数如何影响机器人导盲犬力交互中的用户偏好，并在仿真和人体实验中验证。

# 面向机器人导盲犬的坡度感知可变导纳滤波器用户偏好理解

::: v-pre
> 原文链接：[Understanding User Preferences of a Slope-Aware Variable-Admittance Filter for a Robot Guide Dog](https://arxiv.org/abs/2609.15362)（arXiv 2609.15362 · 发布日期：2026-09-14）

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

研究坡度感知可变导纳滤波器参数如何影响机器人导盲犬力交互中的用户偏好，并在仿真和人体实验中验证。

## 核心要点

- 面向视障人士物理引导，关注坡度环境下机器人导盲犬力交互的用户偏好。
- 系统采用四足机器人和无传感器刚性把手，结合路径跟随与动量式交互力估计。
- 可变导纳滤波器依据深度相机提取的坡度信息，在线调整刚度和阻尼。
- Taguchi L9实验比较多种策略，初步结果显示上坡增刚度、下坡降刚度更优，阻尼主效应不显著。

**验证范围与局限**：验证包括高保真仿真和蒙眼健视参与者的人体实验。

## 英文摘要 (Abstract)

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.

作者：Esposito, Federico, Mario Selvaggio, Link, Aaron, Fabio Ruggiero
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## 原始参考来源 (Sources)

- [arXiv 2609.15362：Understanding User Preferences of a Slope-Aware Variable-Admittance Filter for a Robot Guide Dog](https://arxiv.org/abs/2609.15362)