We present a quiet, smooth-walking controller for quadruped guide robots, addressing key challenges for blind and low-vision (BLV) users. Unlike conventional controllers that produce distracting noise and jerky motion, ours enables slow, stable, and human-speed walking—even on stairs. Through interviews and user studies with BLV individuals, we show that our controller reduces noise by half and significantly improves user acceptance, making quadruped robots a more viable mobility aid.
