Improving Walking Path Generation Through Biped Constraint in Indoor Navigation System for Visually Impaired Individuals.

This paper introduces a walking path generation method specifically developed for the Smart Cane, which is a RNA (Robotic Navigation Assistance Device) aimed at enhancing indoor navigation for visually impaired individuals. The proposed approach combines the utilization of a LIPM (Linear Inverse Pendulum Model) and LFPC (Linear Foot Placement Controller) motion primitives to generate walking paths specifically designed for visually impaired individuals. The primary objective is to generate paths that conform to human motion constraints, thereby guaranteeing an efficient and natural navigation experience.