A Bionic Blind‐Guiding Robot Based on Wheeled‐Legged Foldable Structure

ABSTRACT This paper presents the design and development of a bionic blind‐guiding robot based on a wheeled‐legged foldable structure, aimed at assisting visually impaired individuals in navigating complex environments. The robot integrates the advantages of both legged and wheeled robots, combining high mobility and environmental adaptability with improved movement efficiency and stability. The mechanical design incorporates a foldable structure inspired by guide dogs, enabling the robot to navigate uneven terrain, climb stairs, and curl up under furniture. A comprehensive kinematic and dynamic model is established to facilitate precise control of the robot's motion. The control system employs a Virtual Model Control approach, with force distribution optimized using Quadratic Programming to ensure stable locomotion. The robot features multiple motion modes, including legged, wheeled, and wheeled‐legged cooperative walking, allowing for flexible adaptation to different terrains. Human–robot interaction is enhanced through a guide saddle connection, providing tactile feedback and control options for the user. Experimental results demonstrate the robot's ability to maintain stability under varying traction forces and its effectiveness in guiding blind individuals through indoor and outdoor environments. The proposed design offers a promising solution for improving the mobility and independence of visually impaired individuals.