论文标题
动画Cassie：一个动态的相关机器人角色
Animated Cassie: A Dynamic Relatable Robotic Character
论文作者
论文摘要
用情感个性创建机器人将改变现实世界中机器人的可用性。由于以前的情感社交机器人主要基于静态稳定的机器人的机器人的动机有限，因此本文为现实世界中的管道开发了动画，使动态的双皮德机器人可以扭曲，摇摆和步行以情绪化。首先，引入了一种动画方法来设计虚拟机器人角色的情感动作。其次，动态优化器用于将动画运动转换为动态可行的运动。第三，开发了实时站立和步行控制器和自动机，以使虚拟特征栩栩如生。该框架已部署在双足机器人Cassie上，并在实验中进行了验证。据我们所知，本文是最早提供动画动态腿部机器人的论文之一，该机器人能够以所需的情感属性执行动作。我们称使用动态动作将情绪传达为动态相关机器人角色的机器人。
Creating robots with emotional personalities will transform the usability of robots in the real world. As previous emotive social robots are mostly based on statically stable robots whose mobility is limited, this paper develops an animation to real world pipeline that enables dynamic bipedal robots that can twist, wiggle, and walk to behave with emotions. First, an animation method is introduced to design emotive motions for the virtual robot character. Second, a dynamics optimizer is used to convert the animated motion to dynamically feasible motion. Third, real time standing and walking controllers and an automaton are developed to bring the virtual character to life. This framework is deployed on a bipedal robot Cassie and validated in experiments. To the best of our knowledge, this paper is one of the first to present an animatronic dynamic legged robot that is able to perform motions with desired emotional attributes. We term robots that use dynamic motions to convey emotions as Dynamic Relatable Robotic Characters.
