公开(公告)号：US11247738B2

公开(公告)日：2022-02-15

申请号：US16421742

申请日：2019-05-24

Applicant: DISNEY ENTERPRISES, INC.

Inventor： Scott Christopher Lavalley ,  Kyle Robert Thompson ,  Michael Anthony Hopkins ,  Dexter J. Dickinson ,  Jared Edward Bishop ,  Jerry W. Rees ,  Kyle Michael Cesare

IPC: G06F17/00 ,  B62D57/032 ,  B25J11/00

Abstract: A robot actor, or character mobility hardware platform, adapted to unleash or provide a wide variety of characters in the physical world. The robot actor enables the often screen-constrained characters to become life-like, interactive participants with nearby people in ways not presently achievable. The robot actor is an untethered, free-roaming robot that is has two (or more) legs, is adapted for high dexterity, is controlled and designed to be self-balancing, and, due to this combination of characteristics, the robot can provide characters with an illusion of life and, in many cases, in correct proportion and scale. The hardware and software of the robot actor will become a new generation of animatronic figures by providing a hardware platform capable of continuously evolving to become more capable through advances in controls and artificial intelligence (AI).

公开(公告)号：US20250108505A1

公开(公告)日：2025-04-03

申请号：US18658153

申请日：2024-05-08

Applicant: DISNEY ENTERPRISES, INC.

Inventor： Moritz Niklaus Bächer ,  Georg Wiedebach ,  Joel Peavy ,  Lars Espen Knoop ,  Steven Pickles ,  Jared Edward Bishop ,  Ruben Jelle Grandia ,  Michael Anthony Hopkins

IPC: B25J9/16 ,  B25J9/00

Abstract: A method of training a robotic device includes: parameterizing, via a processing element, an input to the robotic device. The parameterizing comprises defining a range of values of the input. The method further includes generating, via the processing element, a plurality of samples of the parameterized input from within the range of values; training a control policy, via the processing element. The training includes: providing the plurality of samples to the control policy, wherein the control policy is adapted to operate an actuator of the robotic device, and generating, via the processing element, a policy action using the control policy; transmitting the policy action to a robotic model, wherein the robotic model includes a physical model of the robotic device. The method further includes deploying the one or more trained control policies to an on-board controller for the robotic device.

公开(公告)号：US12293445B2

公开(公告)日：2025-05-06

申请号：US17700658

申请日：2022-03-22

Applicant: DISNEY ENTERPRISES, INC.

Inventor： Michael Anthony Hopkins ,  Kyle Michael Cesare ,  Georg Wiedebach ,  Jared Edward Bishop

IPC: B25J5/00 ,  G06F3/04815 ,  G06F3/04847 ,  G06F30/20 ,  G06T13/40

Abstract: A robot design and control system including a procedural animation engine and a graphical animation editor that enable animators to author stylized walking gaits achievable by physical robotic characters, including bipedal robots of varying design. The animation engine generates dynamically feasible reference trajectories for omnidirectional walking given a desired walking velocity that may be input from a joystick or an artificial intelligence (AI) planner. This allows a legged robot to walk along an arbitrary path while expressing a custom animation “style,” e.g., a happy walk, a sneaky walk, or other manner of walking. The stylized walking motion or gait is generalized by the animation engine from a small number of animation samples that are defined at key walking velocities and tracked using a whole-body controller. The set of samples that are used as input to define a walking style is authored by an animator using the animation editor.

公开(公告)号：US20250113140A1

公开(公告)日：2025-04-03

申请号：US18903269

申请日：2024-10-01

Applicant: DISNEY ENTERPRISES, INC.

Inventor： Michael Anthony Hopkins ,  Steven Pickles ,  Joel Peavy ,  Jared Edward Bishop ,  Moritz Niklaus Bächer ,  Georg Wiedebach ,  Ruben Jelle Grandia ,  Lars Espen Knoop

IPC: H04R1/22 ,  B25J11/00 ,  B25J19/02 ,  G06F16/63

Abstract: A computer implemented method for generating a motion-driven sound effect includes: determining, via a processor, a mechanical characteristic of a mechanical system; modifying, via the processor, an audio clip based on the mechanical characteristic; and outputting, via the processor, the audio clip based on the mechanical characteristic.

公开(公告)号：US20230306667A1

公开(公告)日：2023-09-28

申请号：US17700658

申请日：2022-03-22

Applicant: DISNEY ENTERPRISES, INC.

Inventor： Michael Anthony Hopkins ,  Kyle Michael Cesare ,  Georg Wiedebach ,  Jared Edward Bishop

IPC: G06T13/40 ,  B25J5/00 ,  G06F3/04847 ,  G06F3/04815 ,  G06F30/20

CPC classification number: G06T13/40 ,  B25J5/00 ,  G06F3/04847 ,  G06F3/04815 ,  G06F30/20 ,  G06T2200/24

Abstract: A robot design and control system including a procedural animation engine and a graphical animation editor that enable animators to author stylized walking gaits achievable by physical robotic characters, including bipedal robots of varying design. The animation engine generates dynamically feasible reference trajectories for omnidirectional walking given a desired walking velocity that may be input from a joystick or an artificial intelligence (AI) planner. This allows a legged robot to walk along an arbitrary path while expressing a custom animation “style,” e.g., a happy walk, a sneaky walk, or other manner of walking. The stylized walking motion or gait is generalized by the animation engine from a small number of animation samples that are defined at key walking velocities and tracked using a whole-body controller. The set of samples that are used as input to define a walking style is authored by an animator using the animation editor.