Disney Enterprises, Inc.

Lars Espen Knoop

Stelian Coros

Moritz Niklaus Bächer

Christian Gabriel Schumacher

Hongyi Xu

Lanny Starkes Smoot

Alfredo Medina Ayala

Günter D Niemeyer

Michael Anthony Hopkins

Kyle Michael Cesare

Sungjoon Choi

Vinay Chawda

Matthew Keith Xi-Jie Pan

Tanner J Rinke

Shayan Hoshyari

Moritz Niklaus Bâcher

Venkata Krishna Tamminana

A new controller for use in robots with kinematic loops as well as in most other types of robots (such as those with fully actuated kinematic trees). The controller includes an inverse kinematics (IK) module that implements a versatile IK formulation for retargeting of motions, including expressive motions, onto mechanical systems (i.e., robots with loops and/or without loops). Further, the controller is configured to support the precise control of the position and orientation of end effectors and the center of mass (CoM) (such as of walking robots). The formulation of the algorithms carried out by the IK module safeguards against a disassembly when IK targets are moved outside the workspace of the robot. A regularizer is included in the controller that smoothly circumvents kinematic singularities where velocities go to infinity.

Robot with an inverse kinematics (IK)-based controller for retargeting input motions

A robot control method, and associated robot controllers and robots operating with such methods and controllers, providing real-time vibration suppression. The control method involves learning to support real-time, vibration-suppressing control. The method uses state-of-the-art machine learning techniques in conjunction with a differentiable dynamics simulator to yield fast and accurate vibration suppression. Vibration suppression using offline simulation approaches that can be computationally expensive may be used to create training data for the controller, which may be provide by a variety of neural network configurations. In other cases, sensory feedback from sensors onboard the robot being controlled can be used to provide training data to account for wear of the robot's components.

Robotic systems using learning to provide real-time vibration-suppressing control

A robot control method, and associated robot controllers and robots operating with such methods and controllers, providing computational vibration suppression. Given a desired animation cycle for a robotic system or robot, the control method uses a dynamic simulation of the physical robot, which takes into account the flexible components of the robot, to predict if vibrations will be seen in the physical robot. If vibrations are predicted with the input animation cycle, the control method optimizes the set of motor trajectories to return a set of trajectories that are as close as possible to the artistic or original intent of the provider of the animation cycle, while minimizing unwanted vibration. The new control method or design tool suppresses unwanted vibrations and allows a robot designer to use lighter and/or softer (less stiff) and, therefore, less expensive systems in new robots.

Computational vibration suppression for robotic systems

Methods and corresponding systems that are useful in design and fabrication of kinetic wire mechanisms or characters. The method includes a computational technique for the design of kinetic wire mechanisms tailored for fabrication on consumer-grade hardware such as a desktop CNC bending device. The method takes as input a skeletal animation of the mechanism to be fabricated and estimates, from the skeletal animation, a cable-driven and compliant wire structure, which matches user-selected keyframes. To enable localized deformations, the technique involves shaping the mechanism's body (i.e., the wire) into functional spring-like entities at a set of locations along the length of the mechanism's body. The method involves determining where on the wire body to place these spring-like entities, determining which types or configurations of spring-like entities should be placed at each of these locations, and optimizing parameters of each user-selected spring-like entity for use at the locations on the wire mechanism.

Computer-assisted design and fabrication of kinetic wire mechanisms

A system for providing a user of a virtual reality (VR) system with physical interactions with an object in the real world or in the surrounding physical space while they are concurrently interacting in the virtual world with a corresponding virtual object. The real world object is dynamic with the system including a physical interaction system that includes a robot with a manipulator for moving, positioning, and/or orienting the real world object to move it into contact with the user. For example, the physical object is moved into contact with a tracked body part of the user at a time that is synchronized with a time of an interaction event occurring in the virtual world being created by the VR system. Further, a system is described for providing a dynamic physical interaction to a human participant, e.g., a fast and compelling handover in an augmented reality (AR) system.

System for introducing physical experiences into virtual reality (VR) worlds

Growing community of inventors

Zurich, Switzerland

Lars Espen Knoop