US 12,293,445 B2
Procedural animation engine and editor for sample-based design of stylized walking gaits for bipedal robots
Michael Anthony Hopkins, Richmond, VA (US); Kyle Michael Cesare, Boulder, CO (US); Georg Wiedebach, Glendale, CA (US); and Jared Edward Bishop, Ventura, CA (US)
Assigned to DISNEY ENTERPRISES, INC., Burbank, CA (US)
Filed by DISNEY ENTERPRISES, INC., Burbank, CA (US)
Filed on Mar. 22, 2022, as Appl. No. 17/700,658.
Prior Publication US 2023/0306667 A1, Sep. 28, 2023
Int. Cl. B25J 5/00 (2006.01); G06F 3/04815 (2022.01); G06F 3/04847 (2022.01); G06F 30/20 (2020.01); G06T 13/40 (2011.01)
CPC G06T 13/40 (2013.01) [B25J 5/00 (2013.01); G06F 3/04815 (2013.01); G06F 3/04847 (2013.01); G06F 30/20 (2020.01); G06T 2200/24 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A system for providing stylized walking gaits for a legged robot, comprising:
memory storing, for each animation style of a set of animation styles, a walking gait sample complying with kinematic and dynamic constraints associated with the legged robot at each of a plurality of velocities;
a processor communicatively linked to the memory; and
an animation engine provided by the processor running software,
wherein the animation engine receives as user input a desired velocity for the legged robot, a selection of one of the animation styles, and a robot state for either the legged robot or a simulation of the legged robot, and
wherein the animation engine generates actuator commands to animate the legged robot or the simulation of the legged robot with a stylized walking gait modifying the walking gait sample based on the desired velocity, the selected one of the animation styles, and the robot state.