# DogSurf: Quadruped Robot Capable of GRU-based Surface Recognition for Blind Person Navigation

arXiv: https://arxiv.org/abs/2402.03156 · HTML: https://mlsanity.com/paper/2402.03156/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 8 of its 18 references that are in the map.
- First posted on arXiv 5 Feb 2024.

## Builds on (most cited first, 8 of 8)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Empirical Evaluation of Gated Recurrent Neural Networks on Sequence Modeling](https://mlsanity.com/paper/1412.3555/) (2014)
- [Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction](https://mlsanity.com/paper/2103.14300/) (2021)
- [Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach](https://mlsanity.com/paper/2203.03927/) (2022)
- [System Configuration and Navigation of a Guide Dog Robot: Toward Animal Guide Dog-Level Guiding Work](https://mlsanity.com/paper/2210.13368/) (2022)
- [Surface Type Classification for Autonomous Robot Indoor Navigation](https://mlsanity.com/paper/1905.00252/) (2019)
- [DogTouch: CNN-based Recognition of Surface Textures by Quadruped Robot with High Density Tactile Sensors](https://mlsanity.com/paper/2206.04533/) (2022)
- [Terrain Recognition and Contact Force Estimation through a Sensorized Paw for Legged Robots](https://mlsanity.com/paper/2311.03855/) (2023)

## Built on by (most cited first, 1 of 1)

- [RoboFind: Multi-Agent Personalized Object Search for People Who Are Blind or Have Low Vision](https://mlsanity.com/paper/2609.20330/) (2026)

## Abstract (arXiv)

This paper introduces DogSurf - a newapproach of using quadruped robots to help visually impaired people navigate in real world. The presented method allows the quadruped robot to detect slippery surfaces, and to use audio and haptic feedback to inform the user when to stop. A state-of-the-art GRU-based neural network architecture with mean accuracy of 99.925% was proposed for the task of multiclass surface classification for quadruped robots. A dataset was collected on a Unitree Go1 Edu robot. The dataset and code have been posted to the public domain.