Music-Driven Legged Robots: Synchronized Walking to Rhythmic Beats
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arXiv
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| Hauptverfasser: | , , , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866912262119227392 |
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| author | Hou, Taixian Zhang, Yueqi Wei, Xiaoyi Dong, Zhiyan Yi, Jiafu Zhai, Peng Zhang, Lihua |
| author_facet | Hou, Taixian Zhang, Yueqi Wei, Xiaoyi Dong, Zhiyan Yi, Jiafu Zhai, Peng Zhang, Lihua |
| contents | We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often ignored in locomotion policies that do not account for the periodic nature of walking. We propose a hierarchical architecture that integrates a low-level phase tracker, oscillators, and a high-level phase modulator. This controller allows quadruped robots to walk in a natural manner that is synchronized with external musical rhythms. Our method generates diverse gaits across different frequencies and achieves real-time synchronization with music in the physical world. This research establishes a foundational framework for enabling real-time execution of accurate rhythmic motions in legged robots. Video is available at website: https://music-walker.github.io/. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_04063 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Music-Driven Legged Robots: Synchronized Walking to Rhythmic Beats Hou, Taixian Zhang, Yueqi Wei, Xiaoyi Dong, Zhiyan Yi, Jiafu Zhai, Peng Zhang, Lihua Robotics We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often ignored in locomotion policies that do not account for the periodic nature of walking. We propose a hierarchical architecture that integrates a low-level phase tracker, oscillators, and a high-level phase modulator. This controller allows quadruped robots to walk in a natural manner that is synchronized with external musical rhythms. Our method generates diverse gaits across different frequencies and achieves real-time synchronization with music in the physical world. This research establishes a foundational framework for enabling real-time execution of accurate rhythmic motions in legged robots. Video is available at website: https://music-walker.github.io/. |
| title | Music-Driven Legged Robots: Synchronized Walking to Rhythmic Beats |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.04063 |