Minimizing Acoustic Noise: Enhancing Quiet Locomotion for Quadruped Robots in Indoor Applications

2025-06-29

AI Summary

To address excessive locomotion noise of quadruped robots in indoor, noise-sensitive applications such as service and healthcare, this paper proposes a novel motion control framework integrating acoustic modeling, gait optimization, and noise-reduction control. Methodologically, we establish a noise–motion coupled model, design low-impact gait templates, and develop a real-time noise-reduction control strategy based on contact-force regulation and joint-motion smoothing. Experiments across multiple representative indoor environments demonstrate that the approach reduces average sound pressure level by approximately 8 dBA during walking, while preserving locomotion stability and robustness. To the best of our knowledge, this work is the first to explicitly embed acoustic constraints into the closed-loop gait generation and control pipeline for quadruped robots. It establishes a transferable technical paradigm for silent legged robotics, significantly expanding their practical applicability in ultra-quiet operational scenarios.

Technology Category

• Intelligent Robots: Motion and Path Planning
• Natural Language Processing: Safety and Robustness
• Planning, Routing, and Scheduling: Replanning and Plan Repair

Application Category

• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Systems and Infrastructure for Web, Mobile and WoT: Applied ML and AI for Web-based mobile applications
• User Modeling, Personalization and Recommendation: User modeling and simulation for interactive and conversational systems

Abstract

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.

Problem

• Minimizing acoustic noise in quadruped robots
• Enhancing quiet locomotion for indoor applications
• Optimizing gait design and control strategies

Innovation

• Advanced motion control algorithms for noise reduction
• Optimized gait design with tailored control strategies
• Achieves 8 dBA noise reduction in locomotion