让机器人兼具艺术表演与稳健行走能力
Design and Control of a Bipedal Robotic Character
- 用强化学习实现艺术家指令驱动的动态步态控制
- 通过动画引擎实时混合多源动作信号生成流畅表演
- 适合娱乐机器人、舞台演出及人机交互场景
腿式机器人已在复杂非结构化地形中实现了令人印象深刻的动态运动。然而，在娱乐应用中，机器人的设计与控制还需兼顾对人类观众的吸引力。本文旨在统一表达性、艺术家主导的动作与鲁棒的动态移动能力。为此，我们设计了一种新型双足机器人，其机械结构注重角色表现特征。提出基于强化学习的控制架构，可鲁棒执行由命令信号驱动的艺术化动作。运行时，这些命令信号由动画引擎生成，通过组合与融合多个动画源实现。最后，直观的操作界面支持机器人在实时演出中的互动表演。整个系统构建出可信的机器人角色，为娱乐机器人及其他场景中的人机协同互动提供了新路径。
原文摘要 · Abstract (English)
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.
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