Kavli Affiliate: David Muller
| First 5 Authors: Ruben Grandia, Espen Knoop, Michael A. Hopkins, Georg Wiedebach, Jared Bishop
| Summary:
Legged robots have achieved impressive feats in dynamic locomotion in
challenging unstructured terrain. However, in entertainment applications, the
design and control of these robots face additional challenges in appealing to
human audiences. 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.
| Search Query: ArXiv Query: search_query=au:”David Muller”&id_list=&start=0&max_results=3