The paper presents RDog, a quadruped robot designed to assist visually impaired (BVI) individuals in navigating indoor and outdoor environments. RDog combines advanced mapping and navigation systems with force feedback and preemptive voice feedback to guide users more efficiently and safely. The authors conducted user interviews to understand the challenges BVI individuals face with current navigation aids, such as white canes and smart canes, and identified the need for a self-propelled robot that can actively guide users around obstacles and provide clear, intuitive guidance. The study compares RDog to traditional and smart cane solutions in various environments, including indoor spaces, unstructured settings, and uneven terrains. Key findings include: 1. **Navigation Efficiency and Smoothness**: RDog outperforms both white canes and smart canes in terms of navigation efficiency and smoothness, with significantly fewer deviations and collisions. 2. **Perceived Workload**: Users reported lower perceived workload when using RDog compared to the white cane and smart cane, as measured by the NASA-TLX scale. 3. **Terrain Feedback**: Preemptive voice feedback about terrain changes significantly improved users' navigation experience, reducing the need for manual adjustments and enhancing safety. The results highlight the potential of RDog as a promising assistive tool for BVI individuals, offering a more intuitive and efficient navigation experience compared to traditional methods. The study also discusses the implications for multi-terrain assistive guidance systems, emphasizing the importance of advanced feedback mechanisms and versatile navigation capabilities.The paper presents RDog, a quadruped robot designed to assist visually impaired (BVI) individuals in navigating indoor and outdoor environments. RDog combines advanced mapping and navigation systems with force feedback and preemptive voice feedback to guide users more efficiently and safely. The authors conducted user interviews to understand the challenges BVI individuals face with current navigation aids, such as white canes and smart canes, and identified the need for a self-propelled robot that can actively guide users around obstacles and provide clear, intuitive guidance. The study compares RDog to traditional and smart cane solutions in various environments, including indoor spaces, unstructured settings, and uneven terrains. Key findings include: 1. **Navigation Efficiency and Smoothness**: RDog outperforms both white canes and smart canes in terms of navigation efficiency and smoothness, with significantly fewer deviations and collisions. 2. **Perceived Workload**: Users reported lower perceived workload when using RDog compared to the white cane and smart cane, as measured by the NASA-TLX scale. 3. **Terrain Feedback**: Preemptive voice feedback about terrain changes significantly improved users' navigation experience, reducing the need for manual adjustments and enhancing safety. The results highlight the potential of RDog as a promising assistive tool for BVI individuals, offering a more intuitive and efficient navigation experience compared to traditional methods. The study also discusses the implications for multi-terrain assistive guidance systems, emphasizing the importance of advanced feedback mechanisms and versatile navigation capabilities.