This work aims to unify expressive, artist-directed motions and robust dynamic mobility for legged robots. To this end, we introduce a new bipedal robot, designed with a focus on character-driven mechanical features.
We present a reinforcement learning-based control architecture to robustly execute artistic motions conditioned on command signals. During runtime, these command signals are generated by an animation engine which composes and blends between multiple animation sources.
Finally, an intuitive operator interface enables real-time show performances with the robot. The complete system results in a believable robotic character, and paves the way for enhanced human-robot engagement in various contexts, in entertainment robotics and beyond.
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- Walt Disney Imagineering
- Walt Disney Imagineering Research & Development
- Disney Research
- Disney Live Entertainment
- Lucasfilm Ltd.
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