Designing a Robotic Guide Dog for Trustworthy Human-Robot Coexistence

This work explores how assistive robots can achieve trustworthy human-robot coexistence by designing a robotic guide dog for blind or visually impaired (BVI) users. We examine three questions: how users and bystanders expect such a system to behave, how a human and robot can navigate safely as a coordinated team, and how the system can build trust and social comfort for both user and bystanders. Our studies identify mutual awareness, social legibility, and transparent communication as key elements of effective teaming. Building on these insights, we propose navigation models and interaction strategies that combine semantic reasoning with legible motion, advancing assistive robots toward safe, reliable, and socially intelligent behavior in everyday settings.