Development of a bipedal robot that walks like an animation character

Seungmoon Song, Joohyung Kim, Katsu Yamane

Research output: Contribution to journalConference articlepeer-review

Abstract

Our goal is to bring animation characters to life in the real world. We present a bipedal robot that looks like and walks like an animation character. We start from animation data of a character walking. We develop a bipedal robot which corresponds to lower part of the character following its kinematic structure. The links are 3D printed and the joints are actuated by servo motors. Using trajectory optimization, we generate an open-loop walking trajectory that mimics the character's walking motion by modifying the motion such that the Zero Moment Point stays in the contact convex hull. The walking is tested on the developed hardware system.

Original languageEnglish (US)
Article number7139698
Pages (from-to)3596-3602
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2015-June
Issue numberJune
DOIs
StatePublished - Jun 29 2015
Externally publishedYes
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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