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/.

翻译：我们解决了通过整合精确频率和相位特征来有效控制腿式机器人运动的问题，这一问题在未考虑行走周期性的运动策略中常被忽视。我们提出了一种分层架构，该架构整合了底层相位跟踪器、振荡器及高层相位调制器。该控制器使四足机器人能以与外部音乐节奏同步的自然方式行走。我们的方法能在不同频率下生成多样化步态，并在物理世界中实现与音乐的实时同步。本研究为腿式机器人实现精确节奏运动的实时执行建立了基础框架。演示视频详见网站：https://music-walker.github.io/。