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US12293445B2 - Procedural animation engine and editor for sample-based design of stylized walking gaits for bipedal robots - Google Patents

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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.

US12293445B2 - Procedural animation engine and editor for sample-based design of stylized walking gaits for bipedal robots - Google Patents Procedural animation engine and editor for sample-based design of stylized walking gaits for bipedal robots Download PDF Info Publication number US12293445B2 US12293445B2 US17/700,658 US202217700658A US12293445B2 US 12293445 B2 US12293445 B2 US 12293445B2 US 202217700658 A US202217700658 A US 202217700658A US 12293445 B2 US12293445 B2 US 12293445B2 Authority US United States Prior art keywords animation walking robot gait sample Prior art date 2022-03-22 L

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