让四足机器人随音乐节奏自然走路，实时同步不卡顿
Music-Driven Legged Robots: Synchronized Walking to Rhythmic Beats
- 分层控制架构：低层跟踪相位，高层调节节奏，中间用振荡器衔接
- 在真实世界中实现音乐与步伐的实时同步，适配多种节奏频率
- 适合做机器人舞蹈、人机交互演示或表演型机器人研发
我们针对四足机器人运动控制中常忽略行走周期性的问题，提出一种分层控制架构，包含低层相位追踪器、振荡器和高层相位调制器。该方法使机器人能够以自然姿态跟随外部音乐节拍进行行走。实验表明，该系统可在不同频率下生成多样化的步态，并在物理世界中实现实时音乐同步。本研究建立了一个可实时执行精确节奏动作的四足机器人控制基础框架。视频演示见：https://music-walker.github.io/
原文摘要 · Abstract (English)
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/.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。