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Quadruped platforms have become an active topic of research due to their highmobility and traversability in rough terrain. However, it is highly challengingto determine whether the clattered environment could be passed by the robot andhow exactly its path should be calculated. Moreover, the calculated path maypass through areas with dynamic objects or environments that are dangerous forthe robot or people around. Therefore, we propose a novel conceptual approachof teaching quadruped robots navigation through user-guided path planning invirtual reality (VR). Our system contains both global and local path planners,allowing robot to generate path through iterations of learning. The VRinterface allows user to interact with environment and to assist quadrupedrobot in challenging scenarios. The results of comparison experiments show thatcooperation between human and path planning algorithms can increase thecomputational speed of the algorithm by 35.58% in average, and non-criticallyincreasing of the path length (average of 6.66%) in test scenario.Additionally, users described VR interface as not requiring physical demand(2.3 out of 10) and highly evaluated their performance (7.1 out of 10). Theability to find a less optimal but safer path remains in demand for the task ofnavigating in a cluttered and unstructured environment.

HyperGuider: Virtual Reality Framework for Interactive Path Planning of Quadruped Robot in Cluttered and Multi-Terrain Environments