Music-Driven Legged Robots: Synchronized Walking to Rhythmic Beats

We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often disregarded 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.