打造会跳舞的真人比例机器人，让表演更逼真
From Screen to Stage: Kid Cosmo, A Life-Like, Torque-Controlled Humanoid for Entertainment Robotics
- 用28个自由度+扭矩控制实现流畅拟人动作
- 身高1.45米重25公斤，可同步完成上下肢复杂动作
- 专为影视角色形象设计，兼顾表演与技术稳定性
人形机器人代表了机器人研究的前沿，但在娱乐领域的应用仍处于空白。娱乐追求视觉表现与形态美感，这与当前多数功能性人形机器人的设计思路相悖。设计具备流畅动作能力的娱乐型人形机器人面临诸多挑战。本文介绍Kid Cosmo，一个用于实现稳健行走与拟人化运动生成的研究平台，其外观和行为模仿网飞电影《The Electric State》中同名角色。该机器人身高1.45米，重25公斤，具备28个自由度，主要采用本体感知执行器，支持扭矩控制下的行走与拟人化运动生成。在作为电影宣传巡展的一部分于全球多地展出后，本文呈现系统架构、功能型娱乐机器人所面临的挑战与独特解决方案，并报告了上下肢协同运动时的稳定性初步发现。结果表明，兼顾角色拟真与技术功能的表演导向人形机器人具有可行性。
原文摘要 · Abstract (English)
Humanoid robots represent the cutting edge of robotics research, yet their potential in entertainment remains largely unexplored. Entertainment as a field prioritizes visuals and form, a principle that contrasts with the purely functional designs of most contemporary humanoid robots. Designing entertainment humanoid robots capable of fluid movement presents a number of unique challenges. In this paper, we present Kid Cosmo, a research platform designed for robust locomotion and life-like motion generation while imitating the look and mannerisms of its namesake character from Netflix's movie The Electric State. Kid Cosmo is a child-sized humanoid robot, standing 1.45 m tall and weighing 25 kg. It contains 28 degrees of freedom and primarily uses proprioceptive actuators, enabling torque-control walking and lifelike motion generation. Following worldwide showcases as part of the movie's press tour, we present the system architecture, challenges of a functional entertainment robot and unique solutions, and our initial findings on stability during simultaneous upper and lower body movement. We demonstrate the viability of performance-oriented humanoid robots that prioritize both character embodiment and technical functionality.
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