Disney researchers have developed a system of interacting editing tools that allow an operator to change the way a bipedal robot walks in real-time. This artist-directed authoring of stylized bipedal walking gaits was tailored exclusively for execution on robotic characters.
The operator basically interfaces with an interactive editing tool that generates the desired character motion in real-time, either on the physical or simulated robot, using a model-based control stack. Each one of these walking styles is encoded as a set of sample parameters which are then translated into whole-body reference trajectories using the proposed procedural animation technique.
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To demonstrate the utility of our approach, we animate gaits for a custom, free-walking robotic character, and show, with two additional in-simulation examples, how our procedural animation technique generalizes to bipeds with different degrees of freedom, proportions, and mass distributions,” said the researchers.
