**4.3 Development, production and testing of the robotic quadruped**

Within the scope of the project, two identical demonstrators will be developed, manufactured and tested in field tests as basic systems of the robotic quadrupeds. A modular approach is chosen, which allows different structures to be determined according to requirements through workshops and surveys on the basic system. The basic system refers to the basic body of the robotic quadruped, which is designed to meet the requirements in terms of load, running speed, motion dynamics and total weight. Further superstructures are used, for example, to carry goods or designate handholds for hand-guided operation. Since the system is used indoors and outdoors, a robust construction and resistance to external influences are taken into account. Lightweight materials are selected to reduce the weight of the platform and maximize the load capacity. The design and selection of suitable drives, battery systems and sensor and computing hardware is based on the components available on the market. In addition to the design and manufacture, the development of the drive controllers and the kinematics of the robotic quadrupeds for the implementation of dynamic and stable gaits takes place.

*Living and Interacting with Robots: Engaging Users in the Development of a Mobile Robot DOI: http://dx.doi.org/10.5772/intechopen.90112*

## **4.4 Development and testing of locomotion, assistance functions and autonomous navigation**

The system has three assistive functions (follow-on, navigator and manual operation) and is able to navigate autonomously indoors and outdoors. The followon function allows for the user to be detected and tracked by quadruped sensor systems. This enables the quadruped to be used, for example, as a load carrier. Through the navigator function, it can serve as a "guide" for users to achieve a defined goal. The assistance function for manual operation makes it possible to use the system as a support and control it intuitively. As interaction components, intelligent spacer textiles integrated in the handle of the quadruped are used, which record the user input by means of high-resolution pressure and shear sensors. For this purpose, spacer fabrics are designed with integrated conductive yarns, manufactured on industrial knitting machines and tested for their sensitivity and service life. In autonomous navigation, the system is able to automatically detect its environment, locate itself in it and navigate under collision avoidance, as well as overcome barriers. In order to increase the safety of the user, a contactless connection of the user to the quadruped is established by means of intelligent arm cuffs. The textile-integrated MEMS acceleration sensors and RFID antennas in the cuffs enable the detection of falls, the localization of the affected person and, if necessary, the emission of an emergency signal.

#### **4.5 Social, ethical and legal support for user-centered, iterative development**

The responsibility and accountability of technical development and research play a core role in the project. Therefore, the user-centered conception, implementation and testing of the quadruped will be accompanied throughout the entire course of the project, taking social and ethical issues into account. Within the framework of workshops with the project team, ELSA aspects are sensitized and integrated into the technical conception and implementation. Accompanying the technical realization is a first analysis regarding ethical questions towards autonomy and support of autonomy. In addition, the user studies will be carried out and evaluated taking ELSA into account, e.g., in the context of addressing the test persons and data evaluation. Legal challenges, in particular outdoor safety in traffic, data security as well as safety-related aspects are dealt with and analyzed accordingly by subcontracting a lawyer.
