A custom NMPC/WBIC controller slowed the gait and softened foot contacts of a Unitree Go1 quadruped, reducing walking noise by roughly 10 dB and earning better user acceptance than the default gait.
Accurate power consumption estimation method makes walking robots energy efficient and quiet
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Human-Centered Development of Guide Dog Robots: Quiet and Stable Locomotion Control
A custom NMPC/WBIC controller slowed the gait and softened foot contacts of a Unitree Go1 quadruped, reducing walking noise by roughly 10 dB and earning better user acceptance than the default gait.