@Gene, the simple answer is no. There is nothing like Zelda in audio at all.
To attempt to explain, the Zelda games is a long standing series of action/rpg titles which have existed on nintendo systems sinse the late 80's. In the games you play a character called Link, who is your sterriotypical farm boy with amazing destiny. Somewhere in the games you will run into Princess Zelda, who is both usually Link's love interest, and also a girl with various forms of magical powers that have to do with safe guarding the kingdom of Hyrull where the games take place from the evil sorcerer Gannondorf and protecting three triangular objects called the triforces.
What however distinguishes the games is the gameplay and style. The games are all in real time, and have you able to turn in full 360 degrees and attack in all directions. There is a huge amount of exploring, and lots of puzzles to get through the various dungeons, for example pressing switches to change the landscape, open doors or lower bridges.
Your main weapon is the sword, a mystic weapon called the master swords which has a number of attacks from combos and even with enough magic power launching fireballs, to a 360 degree charge attack, however you also have a number of secondary weapons. Some, like the bow and arrows are used to attack at a distance, while others have various uses in exploring, for example you might have bombs to blow cracks in walls, or boots of speed to let you run past lowering doors, or the hook shot, a grapple like weapon that can let you swing across gaps.
There are of course lots of npcs to talk to and occasional little side quests to do, however for most of the games your exploring a huge environment and often going through some pretty complex routes to get into dungeons.
For example the landmark title Link to the past on the Snes had two different worlds, lightworld and dark world that you could walk between at any time and where there might say be a wall in one location in lightworld there might not be in darkwold and visa versa meaning lots of traversing.
Zelda 64 the Ockerina of time took this even further, one item you had was a mystic flute, the ockerina that you could play spells on including one to travel between two time periods, that of 10 year old kid link, and that 8 years in the future where Link was grown up but where the Kingdom had sort of gone to pot.
this meant lots of interesting puzzles such as needing to plant a seed in the earlier time period to go 8 years into the future to find it grew into a tree that you could climb to enter a location.
There were also huge amounts of hidden items to find, for example heart peaces to extend your life meater and take more hits of which there were a great number scattered around, as well as various cashes of treasure you could sell and items like medallians with different spells, sinse though Link didn't level up or gain xp like in most rpgs you could find lots of different objects and devices to use for your different abilities, many of which helped in battling, and fights in Zelda games could get very tough, indeed the old Uk computer games based program Games master ranked Zeld Link to the past on the Snes as the hardest game for the console, or at least the one they'd recieved more questions about than any other.
Hope this makes sense.
Btw, I've never myself actually managed to play zelda, it's always been visually just not possible, and that aside from the huge amount of text and items, even in it's snes or nes outings let alone all the 3D ones. However it's been one of my brother's favourite games and I watched him play a lot of it back in the day, indeed he's even got the new one for the 3ds, hence why I am familiar with the series main concepts, and why I also love the idea of something similar in audio.
With our dreaming and singing, Ceaseless and sorrowless we! The glory about us clinging Of the glorious futures we see,
Our souls with high music ringing; O men! It must ever be
That we dwell in our dreaming and singing, A little apart from ye. (Arthur O'Shaughnessy 1873.)
