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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).
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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
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.
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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.
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公开(公告)号：US11787045B2
公开(公告)日：2023-10-17
申请号：US17224012
申请日：2021-04-06
Applicant: Disney Enterprises, Inc.
Inventor： Moritz Niklaus Bacher , Lars Espen Knoop , Michael Anthony Hopkins , Kyle Michael Cesare , Christian Gabriel Schumacher , Stelian Coros
CPC classification number: B25J9/1607 , B25J13/088
Abstract: A new controller for use in robots with kinematic loops as well as in most other types of robots (such as those with fully actuated kinematic trees). The controller includes an inverse kinematics (IK) module that implements a versatile IK formulation for retargeting of motions, including expressive motions, onto mechanical systems (i.e., robots with loops and/or without loops). Further, the controller is configured to support the precise control of the position and orientation of end effectors and the center of mass (CoM) (such as of walking robots). The formulation of the algorithms carried out by the IK module safeguards against a disassembly when IK targets are moved outside the workspace of the robot. A regularizer is included in the controller that smoothly circumvents kinematic singularities where velocities go to infinity.
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Patent Agency Ranking
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
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.
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6.发明公开公开(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.
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公开(公告)号：US11747890B2
公开(公告)日：2023-09-05
申请号：US17517589
申请日：2021-11-02
Applicant: Disney Enterprises, Inc.
Inventor： Jeremie A. Papon , Michael Anthony Hopkins , Kyle Michael Cesare , Georg Wiedebach
CPC classification number: G06F3/011 , B25J9/0081 , B25J11/0005 , G02B27/017 , G02B27/0179 , G06N20/00 , G06T13/40 , G06T19/006 , G02B2027/0178 , G02B2027/0187
Abstract: A system includes a computing platform having processing hardware, one or more sensor(s), and a memory storing perception software and animation software, as well as an augmented reality (AR) headset including another processing hardware. The computing platform is configured to obtain an environmental data using the sensor(s), determine the location and orientation of the AR headset using the perception software and the environmental data, identify an action for execution by the computing platform, using the animation software and the location and orientation of the AR headset, and transmit performative data corresponding to the identified action to the AR headset. The AR headset is configured to receive, from the computing platform, the performative data, and to render at least one AR effect corresponding to the identified action using the performative data.
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公开(公告)号：US20230136159A1
公开(公告)日：2023-05-04
申请号：US17517589
申请日：2021-11-02
Applicant: Disney Enterprises, Inc.
Inventor： Jeremie A. Papon , Michael Anthony Hopkins , Kyle Michael Cesare , Georg Wiedebach
Abstract: A system includes a computing platform having processing hardware, one or more sensor(s), and a memory storing perception software and animation software, as well as an augmented reality (AR) headset including another processing hardware. The computing platform is configured to obtain an environmental data using the sensor(s), determine the location and orientation of the AR headset using the perception software and the environmental data, identify an action for execution by the computing platform, using the animation software and the location and orientation of the AR headset, and transmit performative data corresponding to the identified action to the AR headset. The AR headset is configured to receive, from the computing platform, the performative data, and to render at least one AR effect corresponding to the identified action using the performative data.
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公开(公告)号：US20220226987A1
公开(公告)日：2022-07-21
申请号：US17224012
申请日：2021-04-06
Applicant: Disney Enterprises, Inc.
Inventor： Moritz Niklaus Bacher , Lars Espen Knoop , Michael Anthony Hopkins , Kyle Michael Cesare , Christian Gabriel Schumacher , Stelian Coros
Abstract: A new controller for use in robots with kinematic loops as well as in most other types of robots (such as those with fully actuated kinematic trees). The controller includes an inverse kinematics (IK) module that implements a versatile IK formulation for retargeting of motions, including expressive motions, onto mechanical systems (i.e., robots with loops and/or without loops). Further, the controller is configured to support the precise control of the position and orientation of end effectors and the center of mass (CoM) (such as of walking robots). The formulation of the algorithms carried out by the IK module safeguards against a disassembly when IK targets are moved outside the workspace of the robot. A regularizer is included in the controller that smoothly circumvents kinematic singularities where velocities go to infinity.
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