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    RAPID DESIGN AND ANIMATION OF FREELY-WALKING ROBOTIC DEVICES
    1.
    发明申请
    RAPID DESIGN AND ANIMATION OF FREELY-WALKING ROBOTIC DEVICES 有权

    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.

    Procedural animation engine and editor for sample-based design of stylized walking gaits for bipedal robots
    2.
    发明授权
    Procedural animation engine and editor for sample-based design of stylized walking gaits for bipedal robots 有权

    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.

    Augmented Reality Enhanced Interactive Robotic Animation
    6.
    发明申请
    Augmented Reality Enhanced Interactive Robotic Animation 有权

    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

    IPC: G06F3/01 ,  G06T13/40 ,  B25J9/00 ,  B25J11/00 ,  G02B27/01 ,  G06T19/00 ,  G06N20/00

    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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