Development of a bipedal robot that walks like an animation character

摘要

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.