二足歩行ロボットキャラクターの設計と制御
Design and Control of a Bipedal Robotic Character
エンタメ向けに、表現豊かな芸術的動作と堅牢な動的移動を両立する二足歩行ロボットを設計し、強化学習ベースの制御とアニメーションエンジン、操作インターフェースを統合した。
著者: Ruben Grandia, Espen Knoop, Michael A. Hopkins, Georg Wiedebach, Jared Bishop, Steven Pickles, David Müller, Moritz Bächer
分類: cs.RO, cs.LG
原文アブストラクト
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.
