通过优化步态与控制策略，让四足机器人在室内运行时更安静。
Minimizing Acoustic Noise: Enhancing Quiet Locomotion for Quadruped Robots in Indoor Applications
- 结合优化步态与定制控制算法降低噪音
- 平均噪声降低约8 dBA，显著提升静音效果
- 适合医院、服务等对噪音敏感的室内场景
近年来四足机器人在复杂户外环境中的移动能力已大幅提升，但其运动时产生的噪声问题常被忽视，而这在服务和医疗等对噪音敏感的室内环境中至关重要。本研究旨在通过先进的运动控制算法优化四足机器人运动过程中的声学噪声。提出一种新方法，通过整合优化步态设计与定制化控制策略，实现运动过程中平均噪声降低约8 dBA，显著提升其在噪声敏感型室内环境中的适用性。实验结果表明，该方法在多种室内场景下均有效，展示了四足机器人实现低噪运行的潜力。
原文摘要 · Abstract (English)
Recent advancements in quadruped robot research have significantly improved their ability to traverse complex and unstructured outdoor environments. However, the issue of noise generated during locomotion is generally overlooked, which is critically important in noise-sensitive indoor environments, such as service and healthcare settings, where maintaining low noise levels is essential. This study aims to optimize the acoustic noise generated by quadruped robots during locomotion through the development of advanced motion control algorithms. To achieve this, we propose a novel approach that minimizes noise emissions by integrating optimized gait design with tailored control strategies. This method achieves an average noise reduction of approximately 8 dBA during movement, thereby enhancing the suitability of quadruped robots for deployment in noise-sensitive indoor environments. Experimental results demonstrate the effectiveness of this approach across various indoor settings, highlighting the potential of quadruped robots for quiet operation in noise-sensitive environments.
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