Animation image walking mechanism

Abstract

A walking animated image system 10 includes an animated image 12 having a body 16 with a first limb 18 and a second limb 20 extending therefrom. The system also includes a carrier 14 configured to be disposed on the support 30, and the animated image 12 extends away from a side of the carrier 14 in a direction. The carrier 14 is coupled to the first limb 18 by a first actuator system 24 configured to move the first limb 18 away from a side of the carrier 14 in the direction and configured to slide an end 22 of the first limb 18 laterally relative to the direction. The carrier 14 is translated relative to the support 30 by a second actuator system 32. The system 10 also includes a controller 34 communicatively coupled to the first actuator system 24 and the second actuator system 32 and configured to coordinate actuation of the first actuator system 24 and the second actuator system 32 to provide a walking effect.

Description

Technical Field

[0001] The present disclosure generally relates to an animated character control system. More specifically, embodiments of the present disclosure relate to an animated character control system that facilitates animation effects, such as walking effects. Background Art

[0002] Amusement parks typically include a variety of attractions that provide visitors with unique experiences. For example, an amusement park may include a variety of performances. As technology continues to improve, such attractions are also increasing in sophistication and complexity. There is also a corresponding increase in expectations about the entertainment quality of attractions and the need for more immersive effects.

[0003] In general, an animated image (e.g., a puppet, an animated character, a marionette, and / or other animated creature) may be shown to move via the actions of a performer (e.g., a puppeteer) and / or by mechanical actuators. In some cases, the movements of the puppeteer may generate corresponding movements of the animated image, which may generate an illusion or impression that the animated image is alive, operates autonomously (e.g., operates as an autonomous robot), etc. Similarly, actuators, motors, and / or other drives may be used to cause the movement of the animated image to supplement or replace the movement of the performer. In some cases, the movement of the animated image may be limited by the ability of the performer. Additionally or alternatively, viewers viewing the animated image may notice the performer and / or the actuators, motors, and / or drives, thereby reducing the realism and immersion of the entertainment.

[0004] This paragraph is intended to introduce the reader to various aspects of the technology that may be related to the various aspects of the technology described and / or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Therefore, it should be understood that these statements are to be understood in this light, and not as an admission of the prior art. Summary of the invention

[0005] The following presents an overview of certain embodiments disclosed herein. It should be understood that these aspects are presented only to provide the reader with a brief overview of these specific embodiments, and these aspects are not intended to limit the scope of the present disclosure. In fact, the present disclosure may cover a variety of aspects that may not be presented below.

[0006] In an embodiment, a walking animated character system is provided according to the present disclosure. The system includes an animated character having a body with a first limb and a second limb extending therefrom. The system also includes a carrier configured to be disposed on a support, and the animated character extends away from the side of the carrier in a direction. The carrier is connected to the first limb by a first actuator system, and the first actuator system is configured to move the first limb away from the side of the carrier in the direction, and is configured to slide the end of the first limb laterally relative to the direction. The carrier is translated relative to the support by a second actuator system. The system also includes a controller, which is communicatively coupled to the first actuator system and the second actuator system, and is configured to coordinate the actuation of the first actuator system and the second actuator system to provide a walking effect.

[0007] In an embodiment, a control system is provided according to the present disclosure. The system includes: a first actuator system configured to move a first end of a first limb of an animated figure; and a second actuator system configured to move a second end of a second limb of the animated figure. The system also includes a third actuator system configured to move a carrier, wherein the animated figure is disposed on the carrier. The system also includes a controller, the controller including a processor, the processor configured to activate the second actuator system to move the second end of the second limb of the animated figure in a direction; activate the third actuator system in response to the second end of the second limb of the animated figure reaching a position to move the carrier in the direction; and operate the second actuator system in response to the activation of the third actuator system to move the second end of the second limb of the animated figure opposite to the direction.

[0008] In an embodiment, a method is provided according to the present disclosure. The method includes activating a first actuator system to move a first end of a first limb of an animated figure, and the first actuator system is connected to the first end of the first limb of the animated figure and is configured to move the first end. The method also includes activating a second actuator system in response to the first end of the first limb of the animated figure reaching a position so that the carrier moves in the direction. The animated figure is set on the carrier and is configured to move with the carrier. The method also includes operating the first actuator system in response to the activation of the second actuator system so that the first end of the first limb of the animated figure moves opposite to the direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] These and other features, aspects and advantages of the present disclosure will be better understood when the following detailed description is read with reference to the accompanying drawings, in which like reference numerals refer to like parts throughout, and in which: Figure 1 is a perspective view of an embodiment of a walking animation character system according to an embodiment of the present disclosure; Figure 2According to the embodiment of the present disclosure Figure 1 A schematic diagram of a side view of an embodiment of an animated image; Figure 3 According to an embodiment of the present disclosure, it can be used Figure 1 comparison of the translation timing of the actuator system of the walking animation character system; and Figure 4 Including according to the embodiment of the present disclosure Figure 1 A series of schematic diagrams of side views of an embodiment of an animated image to illustrate the walking effect. DETAILED DESCRIPTION

[0010] One or more specific embodiments will be described below. In order to provide a brief description of these embodiments, not all features of the actual implementation are described in the specification. It should be recognized that in the development of any such actual implementation, as in any engineering or design project, many implementation-specific decisions must be made to achieve the developer's specific goals, such as complying with system-related and business-related constraints, which may vary from one implementation to another. In addition, it should be recognized that such development work may be complex and time-consuming, but it is still a routine task of design, construction, and manufacturing for those of ordinary skill who benefit from this disclosure.

[0011] When introducing elements of various embodiments of the present disclosure, the articles "a," "an," and "the" are intended to mean that there are one or more of the elements. The terms "comprising," "including," and "having" are intended to be inclusive, and mean that there may be additional elements other than the listed elements. Additionally, it should be understood that references to "one embodiment" or "an embodiment" of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features.

[0012] It has become more common to create performances in places such as amusement parks, where the performances may include scenery, special effects, audio-visual features, and other media elements that improve the experience of visitors. Specifically, such performances (e.g., ride facilities environments) may involve animated images, which may use robotics (e.g., soft robotics), puppetry, mechanical actuation, hydraulic actuation, electrical actuation, etc. It may be difficult, complex, and expensive to create immersive (e.g., lifelike) movements for such animated images. For example, some movements that occur in nature may be extremely difficult to imitate without using very complex stable control and highly accurate mechanical technology. For a specific example, due to problems such as balancing animated images and hiding the complexity of actuators, it may be difficult and expensive to imitate the actual walking motion of humans. Therefore, it is now recognized that a system and method for improvement are needed to provide certain movements and illusions of movement via animated images so as to achieve more immersive, efficient, and interesting experiences and narratives in places such as amusement parks. It should be noted that as used in this disclosure, the term "animated character" may include characters, puppets, marionettes, animated features, automated characters, etc., as well as supporting components (e.g., controllers, physical supports, base structures, actuators, motors, aesthetic elements, thematic materials).

[0013] According to the present disclosure, an animated image may be used to provide an illusion that an originally fictional character, creature (e.g., an alien robot), device, etc. is alive or active. For example, a controller (e.g., a performer, a control system) may cause the movement of the animated image based on the activation (e.g., physical or electrical activation) of an actuator. The controller may cause the coordinated movement of specific features of the animated image (e.g., head, arms, legs, and / or mouth) to imitate or exhibit certain movement patterns, and thus generate the illusion that the animated image is essentially alive. The animated image may be controlled via the operation of an actuator, motor, and / or other driver that causes the movement of the animated image based on instructions from the controller, and the controller may be remote from the animated image, integrally integrated with the animated image, or in close proximity to the animated image. In addition to creating a desired movement pattern or profile, the present embodiment may also incorporate features that provide for hiding aspects of the operation from audience members. In fact, certain aspects related to the control and coordinated movement of the animated image (e.g., motors, actuators, related movement) may be hidden (e.g., disguised) so that audience members cannot clearly recognize how the movement of the animated image is coordinated and achieved. Furthermore, the present embodiments provide for such movement or actuation in a manner that facilitates efficient operation, maintenance, and control of the animated figure.

[0014] Embodiments of the present disclosure are directed to a walking animated character system that uses mechanical mechanisms and actuator placement to allow the legs of a character assembly (e.g., a model of a bipedal creature) to move in a walking mode. For example, the walking animated character system may include a cart, a mobile car, a wheeled chassis, and / or other suitable transportable frames that can support the character assembly. The character assembly may include a structural member or feature similar to a creature or character, an actuator (e.g., an electronic motor, a hydraulic motor) for controlling the movement of the member or feature, an automatic control feature (e.g., a button, a steering wheel, a joystick, a pedal) for activating or deactivating the actuator, a manual control feature (e.g., stilts, a handle, a foothold) for controlling the movement of the member or feature, auxiliary features, and any combination thereof. Thus, the character assembly can be positioned and controlled to create the illusion that the character walks across a platform (e.g., a stage). It should be noted that specific features of the walking animated character system can be coordinated to provide relative movement (e.g., sliding of the support structure combined with lifting of the limbs), which creates an illusion similar to movement in nature.

[0015] Go to the attached picture, Figure 1 FIG. 1 is a perspective view of an embodiment of a walking animation character system 10 according to an embodiment of the present disclosure. Figure 1 As shown in the illustrated embodiment of , according to an embodiment of the present disclosure, a walking animated character system 10 may include an animated character 12 and a carrier 14 that coordinate to facilitate the animated character walking effect. The animated character 12 may include a body 16, a first limb 18 connected to the body 16, and a second limb 20 connected to the body 16. Both the first limb 18 and the second limb 20 may represent propulsion limbs (e.g., legs) that are considered to directly propel the animated character 12, rather than other limbs or appendages (e.g., arms) that may be considered decorative or supportive (e.g., to assist in maintaining balance). It should be noted that although the illustrated embodiment imitates a bipedal humanoid creature, other embodiments may employ additional propulsion limbs to imitate other entities (e.g., a quadrupedal character). It should be noted that the references to "first" and "second" with respect to the limbs 18 and 20 are merely for ease of discussion and distinction, but these terms may be interchangeable.

[0016] like Figure 1As shown in , various actuator systems cooperate to move different aspects of the animated character system 10 to provide a walking effect. That is, when activated or operated in sequence, the various actuations make the animated character system 10 appear to be walking or shuffling along a path. The illusion is created by tilting the first limb 18 (in various directions relative to the other movements), sliding the second limb 20 relative to the carrier 14, and then sliding the carrier 14 relative to the second limb 20 (which then pulls the first limb 18). This series of movements can be repeated and combined to create the impression to the viewer that the animated character 12 is walking or shuffling relative to a support structure (e.g., a floor or stage) relative to which the carrier 14 moves. By using the carrier 14 to provide forward movement and hiding the movement (e.g., in a channel within the support structure), the carrier 14 can provide a robust support for the animated character 12, which eliminates the complex balance and high power requirements required by traditional walking mechanisms. Additionally, carrier 14 may house actuation components for animated figure 12, which allows for the use of larger, less expensive, and more accessible actuation mechanisms, which improves operational efficiency (eg, allows for more efficient maintenance and less expensive equipment).

[0017] In an embodiment of the present disclosure, a first end 22 of a first limb 18 is coupled to the carrier 14 via a first actuator system 24. The first actuator system 24 may be configured to move the first end 22 away from and back toward the side 26 of the carrier 14 in an inclined manner. This forward and backward tilting movement may generally occur along a direction 28, and may impart corresponding motions throughout the first limb 18 and even other members of the body 16. In particular, the first actuator system 24 may include a pivot joint 23 that actuates to provide such movement, or allows such movement based on actuation of other features of the animated figure system 10 coupled thereto. The first actuator system 24 may also be configured to rock the first end 22 of the first limb 18 laterally relative to the direction 28. Specifically, for example, the first actuator system 24 may include a rocker arm support 25 connected to the first end 22 (which may also be connected to or include the pivot joint 23 mentioned above), wherein the rocker arm support 25 rotates around the axis 29 of the first actuator system 24 to cause a rocking movement applied to the first end 22, which may cause corresponding movements of other features of the first limb 18 or even other features of the body 16.

[0018] The first actuator system 24 is coupled to the carrier 14 and may include aspects that are housed by or integrally coupled to the carrier 14. For example, the carrier 14 may house a motor 31 or other actuation mechanism that causes movement or operation of the first actuation system 24 to achieve the effects discussed above. The carrier 14 may be movably disposed on a support 30 (e.g., a stage, a floor, a base structure) and coupled to the support 30 by a second actuator system 32 (e.g., a bogie system, a vehicle, a skateboard, a dolly). The second actuator system 32 may be configured to translate the carrier 14 relative to the support 30. In addition, the movement of the carrier 14 relative to the support 30 may be disguised or hidden to improve the illusion of walking. For example, the support 30 itself may hide the carrier 14 in a recess or behind a panel of the support 30 so that an observer cannot see that the carrier is translating the animated figure 12 across the support.

[0019] In some embodiments, the first actuator system 24 and the second actuator system 32 may be able to provide a walking effect without involving the second limb 20. For example, certain movements of the carrier 14 and the first limb 18 may create some form of walking motion, or at least a portion of a walking motion. The controller 34 may be communicatively coupled to the first actuator system 24 and the second actuator system 32. The controller 34 may include a memory device 36 (M), a processor 38 (P), a user interface 40 (UI), and a communication component 41 (C). The controller 34 may be configured to coordinate the actuation of the first actuation system 24 and the second actuation system 32 to provide a walking effect or part of an overall walking effect. For example, the controller 34 may coordinate the translation or tilt of the first end 22 of the first limb 18 relative to the carrier 14 and the translation of the carrier 14 relative to the support 30, which may provide the illusion that the animated character 12 jumps or slides across the support 30. The user interface 40 may be used to receive user input related to the operation of the animated character 12 and the carrier 14. In some embodiments, the animated character 12 and the carrier 14 may be controlled via pre-programmed sequences stored in the memory device 36 and executed by the processor 38 of the controller 34. In some embodiments, the controller 34 may communicate with other devices via the communication component 41, such as receiving / sending data related to the operation of the animated character 12 and the carrier 14. For example, the animated character 12 may be part of a story or scene and may be controlled to operate in accordance with a predetermined mode with other attractions in the amusement park. The communication component 41 may be a wireless or wired communication component that may facilitate communication between the controller 34 and various other controllers and devices via a network, the Internet, etc. For example, the communication component 41 may allow the controller 34 to obtain data from various data sources (e.g., databases, networks, etc.). In some embodiments, the animated character 12 and the carrier 14 may be remotely controlled via a network. The communication component 41 may use a variety of communication protocols, such as Open Database Connectivity (ODBC), TCP / IP protocol, Distributed Relational Database Architecture (DRDA) protocol, Database Change Protocol (DCP), HTTP protocol, other suitable current or future protocols, or combinations thereof.

[0020] In some embodiments, second end 42 of second limb 20 can be coupled to carrier 14 via third actuator system 44, which can also be communicatively coupled to controller 34 (along with first actuator system 24 and second actuator system 32). Third actuator system 44 can be configured to move second limb 20 relative to carrier 14 in a variety of ways. For example, third actuator system 44 can be configured to tilt second end 42 back and forth generally in direction 28 (or transverse to direction 28), raise and lower second end 42 relative to carrier 14 in direction 43 (e.g., perpendicular to or otherwise transverse to direction 28), and slide second end 42 back and forth generally in direction 28. Specifically, for example, third actuator system 44 can include slider 46, which includes slide plate 45 configured to traverse guide 47. In the illustrated embodiment, the slider 46 extends generally from the rear (side 26) of the carrier 14 to the front (side 27) of the carrier 14, and thus generally extends in the direction 28 (but also at an angle relative thereto). Thus, as the slide plate 45 slides back and forth along the guide 47, the sliding motion is applied to the second limb 20 via the second end 42. Direct sliding movement in the direction 28 can create more of a stepping illusion, while angled sliding movement relative to the direction 28 can cause more of a limp illusion. In conjunction with this, other aspects of the third actuator system 44 can cause the second end 42 to be raised and lowered relative to the carrier 14, and / or tilted (e.g., in the direction 43 or transverse to the direction 43) to increase the realism of the walking effect. In an embodiment, the slider 46 can be coupled to the second end 42 at the hinge 48. In some embodiments, the slider 46 can be coupled to the second end 42 via a lifter 50, which in turn is coupled to the second end 42 via the hinge 48. The lifter 50 is configured to translate along the guide 47 while changing the height of the second end 42. The hinge 48 may include a ball joint 52 extending from a distal portion 54 of the second end 42 of the second limb 20. As described above, the controller 34 may coordinate the operation of the third actuator system 44, the first actuator system 24, and the second actuator system 32. Such coordinated operation based on a series of actuation instructions or a pattern of actuation instructions can provide an enhanced walking effect, such as the illusion of autonomous movement of the animated figure 12, which is Figure 2 Shown and described in detail in .

[0021] In some embodiments, the linkage 56 may be coupled to the first end 22 of the first limb 18 via a first linkage end 58. The second linkage end 60 of the linkage 56 may be coupled to the body 16. In some embodiments, the second linkage end 60 of the linkage 56 may be coupled to the third end 62 of the first limb 18. The linkage 56 is configured to bend away from the first limb 18 when the first actuator system 24 moves the first limb 18 generally in the direction 28 away from the side 26 of the carrier 14. The linkage 56 may be a living hinge, a spring-loaded hinge, a ball bearing hinge, or any combination thereof. In some embodiments, the first linkage end 58 may be coupled to the first end 22 of the first limb 18 via a linkage actuator 64, and the linkage 56 is configured to bend away from the first limb 18 and bend back toward the first limb 18 during an actuation cycle 65 of the linkage actuator 64. In some embodiments, the linkage actuator 64 may be coupled to the first linkage end 58 via a hinge 66. The linkage actuator 64 may be configured to slide the first linkage end 58 back and forth along the first limb 18. The slide actuator 68 may be coupled to the linkage 56 at a location between the first linkage end 58 and the second linkage end 60 and configured to slide the linkage 56 back and forth generally in the direction 28. The linkage actuator 64 and the slide actuator 68 may be communicatively coupled to the controller 34. The controller 34 may coordinate the operation of the linkage actuator 64 and the slide actuator 68 to cause the first limb 18 to change posture (e.g., lift the first limb 18 and simultaneously bend about a joint of the first limb 18, etc.) during the walking process of the animated figure 12. For example, during a portion of the actuation cycle of the slide actuator 68, the slide actuator 68 may slide in the direction 28 and push the linkage 56 away from the first limb 18, which may cause the linkage 56 to lift the first end 22 of the first limb 18 away from the carrier 14. In the above embodiment, during another portion of the actuation cycle of the sliding actuator 68, the sliding actuator 68 may slide along the opposite side of the direction 28 and pull the linkage 56 back to the first limb 18, which may cause the linkage 56 to release the first end 22 of the first limb 18 back to the carrier 14. In some embodiments, a second linkage similar to the first linkage 56 may be coupled to the second limb 20 and may be configured to bend away from the second limb 20 in a manner similar to that described above for the first linkage 56. In some embodiments, the controller 34 may coordinate the operation of the linkage actuator 64 and the sliding actuator 68 with the first actuator system 24, the second actuator system 32, and the third actuator system 44 to provide an enhanced walking effect, such as the illusion of autonomous movement of the animated figure 12, which in turn may provide an enhanced walking effect, such as an illusion of autonomous movement of the animated figure 12. Figure 2 In some embodiments, a similar linkage system is also included with the second limb 20.

[0022] Figure 2 Shows the available Figure 1 Schematic diagram of a side view of an embodiment of a walking animated figure in a walking animated figure system. In some embodiments, carrier 14 can be located on support 30, and side 26 of carrier 14 can be at a displacement 70 (D) along direction 28 relative to a reference position 72 on support 30. Carrier 14 can be configured to be translated along direction 28 by actuator system 32.

[0023] exist Figure 2 In the embodiment of the present invention, the second end 42 of the second limb 20 can be configured to slide along the slider 46 between the first slider end 74 of the slider 46 and the second slider end 76 of the slider 46. Figure 2 In the embodiment shown in , the second end 42 of the second limb 20 is at a displacement 78 (dL) along the direction 28 relative to the side 26 of the carrier 14. The second end 42 of the second limb 20 is disposed on the carrier 14 at a displacement 80 (Ds) along the direction 28 relative to the reference position 72 on the support 30. Therefore, the displacement 80 (Ds) is the sum of the displacement 78 (dL) and the displacement 70 (D). Figure 2 In the embodiment shown in FIG. 8 , first slider end 74 of slider 46 is at a displacement L0 (eg, a predetermined value) in direction 28 relative to side 26 . Movement of second end 42 in direction 28 may be controlled by actuator system 44 .

[0024] In the illustrated embodiment, the displacement 80 (Ds) of the second end 42 of the second limb 20 in the direction 28 relative to the reference position 72 on the support 30 is the sum of the displacement 78 (dL) and the displacement 70 (D). The actuator system 32 and the actuator system 44 can be configured to cooperate to provide the illusion of autonomous movement of the animated figure 12. For example, in the illustrated embodiment, at time t0, the second end 42 can be located at the first slide end 74 of the slide 46. Therefore, in this embodiment, the displacement 78 (dL) has a value of L0 at time t0. The displacement 70 (D) of the side 26 relative to the reference position 72 on the support 30 can have a value D0. Therefore, the displacement 80 (Ds) can have a value equal to the sum of L0 and D0. At time t1, the actuator system 44 can begin to move the second end 42 in the direction 28 in response to receiving the trigger signal, and change the displacement 78 (dL) accordingly. At time t2, second end 42 may stop at a position on slide 46 where displacement 78 (dL) has a value of D1, and in the illustrated embodiment, D1 may be greater than L0. However, in other embodiments, actuator system 44 may move second end 42 in a direction opposite to direction 28, and at time t2, D1 may be less than L0. During the time period from time t0 to time t2, actuator system 32 may not be activated (or otherwise maintain the position of second end 42). Animated character 12 may begin an idle period at time t2, during which animated character 12 may perform actions without changing displacement 78 (dL) of second end 42 and displacement 70 (D) of side 26 of carrier 14, and the actions may include speaking, gesturing, making expressions, changing postures, etc. It should be noted that animated character 12 may move first limb, second limb, and / or other parts of body 16 during the idle period, such as lifting, rotating, shaking, changing postures, etc. At time t3, actuator system 32 may begin to move carrier 14 in direction 28, and actuator system 44 may simultaneously operate to move second end 42 in the opposite direction of direction 28. Actuator system 32 and actuator system 44 may cooperate in a manner such that displacement 70 (D) caused by actuator system 32 to carrier 14 has the same value as displacement 78 (dL) caused by actuator system 44 to second end 42, but in the opposite direction. Thus, actuator system 32 and actuator system 44 may cooperate to provide the illusion that second end 42 of second limb 20 is stationary relative to support 30, and first limb 18 is moving relative to second limb 20. At time t4, side 26 of carrier 14 may be at displacement D1 relative to reference position 72 on support 30, and second end 42 may return to first slider end 74 of slider 46. Thus, when the carrier 14 is hidden from the viewer, the viewer may have the illusion that the animated figure 12 is walking across the support 30 without any external controls (eg, actuators, arms, wires, etc.).

[0025] exist Figure 2 In the embodiment shown in , the linkage 56 of the first limb 18 can be configured to bend away from the first limb 18 and bend back toward the first limb 18 throughout the actuation cycle 65 of the linkage actuator 64. In the above embodiment, the sliding actuator 68 can maintain the linkage 56 at a displacement 82 (df) away from the first limb 18. During the time period from time t0 to time t3, the displacement 82 (df) can have the same value df0, that is, the sliding actuator 68 can keep the linkage 56 stationary relative to the first limb 18. At time t3, the sliding actuator 68 can push the linkage 56 away from the first limb 18 and thus increase the value of the displacement 82 (df). At time ts, the displacement 82 (df) can have a value of df1, and the sliding actuator 68 can begin to pull the linkage 56 back to the first limb 18 and thus reduce the value of the displacement 82 (df). At time t4, linkage 56 may return to its position at time t0, i.e., displacement 82 (df) has a value of df0. Sliding actuator 68 may cooperate with other actuators (e.g., linkage actuator 64, first actuator system 24) to provide the illusion that first limb 18 is bending during movement. Figure 2 , a second linkage mechanism 84 is shown for the second limb 20. It should be noted that a slide (eg, similar to the slide 46) may also be mounted to the first limb 18 so that the first limb 18 may be configured to move relative to the carrier 14.

[0026] Figure 3 As shown above Figure 286. Graph 88 shows an embodiment of displacement 80 (Ds) relative to translation time t (i.e., t0, t1, t2, t3, and t4). Graph 90 shows displacement 78 (dL) relative to translation time t (i.e., t0, t1, t2, t3, and t4) in an embodiment. Graph 92 shows displacement 70 (D) relative to translation time t (i.e., t0, t1, t2, t3, and t4) in an embodiment. Graph 94 shows displacement 82 (df) relative to translation time t (i.e., t0, t1, t2, t3, and t4) in an embodiment. It should be noted that in other embodiments, displacement 80 (Ds) relative to translation time t, displacement 78 (dL) relative to translation time t, displacement 70 (D) relative to translation time t, or displacement 82 (df) relative to translation time t may not be a straight line (i.e., for 80 (Ds), 78 (dL), 70 (D), or 82 (df), the speed of change of displacement may vary over time). For example, in some embodiments, during the time period between time t1 and time t2, second end 42 of second limb 20 may move faster at time t1 and slower at time t2, may pause moving, may move back and forth along direction 28, etc. Therefore, during the time period between time t1 and time t2, displacement 78 (dL) may not be a straight line.

[0027] exist Figure 3 In the embodiment described in, as shown in graphs 88, 90 and 92, at time t0, the displacement 80 (Ds) may be the sum of the displacement 70 (D) of the side 26 (i.e., D0) and the displacement 78 (dL) of the second end 42 (i.e., L0, which is the second end 42 located at the first slider end 74 of the slider 46).

[0028] At time t1 , as shown in graph 90 , the actuator system 44 may begin moving the second end 42 in the direction 28 and increase the displacement 78 (dL) in response to the triggering event.

[0029] At time t2, second end 42 of second limb 20 may translate to a position on slide 46 where displacement 78 (dL) has value D1, and actuator system 44 may stop moving second end 42 in direction 28. As shown in graph 90, the idle period may begin at time t2.

[0030] At time t3, as shown in Chart 92, the actuator system 32 can be activated and move the carrier in direction 28. At time t3, as shown in Chart 90, the actuator system 44 can move the second end 42 in the opposite direction of direction 28, and the displacement 78 (dL) can decrease. However, as shown in Chart 88, due to the cooperation between the actuator system 32 and the actuator system 44, the displacement 80 (Ds) can remain unchanged. At time t3, as shown in Chart 94, the sliding actuator can be activated and move the linkage 56 away from the first limb 18, which can increase the displacement 82 (df). At time ts (e.g., ts < t4), the displacement 82 (df) can have a value of df1, and the sliding actuator can start to move the linkage 56 back to the first limb 18, which can decrease the displacement 82 (df).

[0031] At time t4, as shown in Charts 90 and 92, the side 26 of the carrier 14 can be translated (along with the carrier 14) to a position where the displacement 70 (D) has a value of D1, and the second end 42 of the second limb can move back to the first slider end 74 of the slider (i.e., the displacement 78 (dL) having a value of L0). At time t4, as shown in Chart 94, the linkage 56 can be pulled back to the first limb 18 such that the displacement 82 (df) can have a value of df0. However, at time t4, as shown in Chart 88, due to the relationship between the displacement 80 (Ds), the displacement 70 (D), and the displacement 78 (dL), the displacement 80 (Ds) can remain unchanged and have a value of D1.

[0032] Figure 4 A series of positioning charts created according to this embodiment are shown, which show the relative positioning of aspects of the avatar system 10 during the operation period. In summary, FIGS. 98, 100, 102, and 104 depict the walking effect 96 of the avatar system 10, where the correspondence of the displacements 70 (D), 80 (Ds), and 78 (dL) creates the illusion that the avatar 12 is walking on the support 30.

[0033] 98 and 100 illustrate a first relationship between displacement 78 (dL) and 80 (Ds), i.e., 78 (dL) = 80 (Ds) and 70 (D) = 0, when carrier 14 is not moving in direction 28 relative to reference position 72 on support 30. In FIG. 98 , second end 42 of second limb 20 is located at first slide end 74 of slide 46, and side 26 of carrier 14 is located at reference position 72, i.e., 70 (D) = 0. In FIG. 100 , second end 42 of second limb 20 is moved to second slide end 76 of slide 46, wherein side 26 of carrier 14 is located at reference position 72, i.e., 70 (D) = 0. That is, FIGS. 98 and 100 together illustrate animated character 12 walking forward in direction 28 on carrier 14 with second limb 20.

[0034] FIG. 102 shows that the side portion 26 of the carrier 14 moves forward in direction 28 to a position 106 having a displacement of L1 relative to the reference position 72 in direction 28. Therefore, the displacement 70 (D) has a value of L1 in FIG. 102, i.e., 78 (dL) + L1 = 80 (Ds). At the same time, the second end 42 of the second limb 20 moves in the opposite direction of direction 28 to a position 108 on the slider 46, and the position 108 is located between the first slider end 74 and the second slider end 76 of the slider 46. That is, in the case of other positions, the positioning depicted by FIG. 102 creates the illusion that the first limb 18 of the animated figure 12 moves on the support 30 and follows the second limb 20 as the carrier 14 moves in direction 28.

[0035] FIG. 104 shows that the side portion 26 of the carrier 14 has further moved in direction 28 to a position 110 having a displacement of L2 in that direction relative to the reference position 72. Therefore, the displacement 70 (D) has a value of L2 in FIG. 104, i.e., 78 (dL) + L2 = 80 (Ds). At the same time, the second end 42 of the second limb 20 moves in the opposite direction of direction 28 and returns to the first slider end 74 of the slider 46. That is, FIG. 104 creates the illusion that the first limb 18 of the animated figure 12 moves on the support 30 and catches up with the second limb 20 as the carrier 14 moves in direction 28.

[0036] therefore, Figure 4 By using the relative positions of carrier 14, first limb 18 (in the illustrated embodiment, first limb 18 does not move relative to carrier 14), second limb 20, and reference position 72 on support 30, walking effect 96 of animated figure 12 walking forward in direction 28 on support 30 is illustrated. It should be noted that various actuator systems can work together to move different aspects of animated figure system 10 to provide Figure 4The walking effect shown in 96. In addition, it should be noted that Figure 4 This is intended to illustrate aspects of the walk effect 96 provided by embodiments of the present disclosure, but other movement or walk effects that vary in positioning, magnitude, path, etc. may also be implemented through the present embodiments.

[0037] Although only certain features of the present invention have been shown and described herein, many modifications and changes will occur to those skilled in the art. It is therefore to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.

[0038] The technology presented and claimed herein is cited and applied to specific examples of material objects and actual properties, which significantly improve the art, and thus are not abstract, intangible, or purely theoretical. In addition, if any claim appended at the end of this specification contains one or more elements designated as "means for [performing] [the function] ..." or "steps for [performing] [the function] ...", such elements are intended to be interpreted under 35 U.S.C. § 112(f). However, for any claim containing elements designated in any other manner, such elements are not intended to be interpreted under 35 U.S.C. § 112(f).

Claims

1. A walking animation image system, comprising: an animated character having a body with a first limb and a second limb extending therefrom; a carrier configured to be disposed on a support, wherein the animated figure extends in a direction away from a side of the carrier; a first actuator system coupled to the carrier and the first limb, wherein the first actuator system is configured to slide an end of the first limb laterally relative to the direction; a second actuator system configured to translate the carrier relative to the support; as well as A controller is communicatively coupled to the first actuator system and the second actuator system and is configured to coordinate actuation of the first actuator system and the second actuator system to provide a walking effect.

2. The walking animated figure system of claim 1, wherein the first actuator system is configured to move the first limb away from the side of the carrier in the direction.

3. The walking animation figure system of claim 1 , comprising a third actuator system coupled to the carrier and to the second limb, wherein the third actuator system is configured to move the second limb away from the side of the carrier in the direction, to tilt the second limb relative to the carrier, or both.

4. The walking animated figure system of claim 3, wherein the third actuator system is configured to translate an end portion of the second limb laterally relative to the direction.

5. The walking animated figure system of claim 1 , comprising a third actuator system coupled to a carrier of the second limb, wherein the third actuator system comprises a slide coupled to an end of the second limb, and wherein the slide is configured to translate laterally relative to the direction.

6. The walking animated figure system of claim 1, wherein the first actuator system comprises a slide comprising a slide plate configured to traverse a guide, wherein the first limb is coupled to the slide plate at a hinge.

7. The walking animated figure system of claim 1, wherein the first limb is coupled to a skateboard via a riser and a hinge, and the riser is configured to translate in the direction.

8. The walking animated figure system of claim 7, wherein the articulation comprises a ball and socket joint extending from a distal portion of the first limb.

9. The walking animation figure system of claim 1 , comprising a linkage mechanism having a first linkage mechanism end coupled to an end of the first limb and a second linkage mechanism end coupled to the body or an additional end of the first limb, wherein the linkage mechanism is configured to bend away from the first limb.

10. The walking animated figure system of claim 9, wherein the linkage mechanism is configured to bend away from the first limb in response to the first actuator system moving the first limb in the direction away from the side of the carrier.

11. The walking animated figure system of claim 9, wherein the linkage mechanism comprises a living hinge, a spring loaded hinge, or a ball bearing hinge.

12. The walking animated figure system of claim 9, wherein the first linkage end is coupled to the end of the first limb via a linkage actuator, and the linkage is configured to bend away from the first limb and back toward the first limb throughout an actuation cycle of the linkage actuator.

13. The walking animated character system of claim 1, wherein the first limb and the second limb are walking limbs.

14. The walking animation figure system according to claim 1 comprises a first linkage mechanism connected to the first limb and a second linkage mechanism connected to the second limb, wherein the first linkage mechanism is configured to bend away from the first limb when the first linkage mechanism is actuated, and the second linkage mechanism is configured to bend away from the second limb when the second linkage mechanism is actuated.

15. A control system for walking movement, comprising: a first actuator system configured to move a first end of a first limb of the animated figure; a second actuator system configured to move a second end of a second limb of the animated figure; a third actuator system configured to move a carrier, wherein the animated figure is disposed on the carrier; and A controller comprising a processor, wherein the processor is configured to: activating the second actuator system to move a second end of a second limb of the animated figure in a direction; activating the third actuator system in response to the second end of the second limb of the animated figure reaching a position to move the carrier in the direction; as well as The second actuator system is operated in response to activation of the third actuator system to move a second end of a second limb of the animated figure opposite to the direction.

16. The control system of claim 15, wherein the controller is configured to activate the first actuator system in response to activation of the third actuator system.

17. The control system of claim 16, wherein the first actuator system comprises a linkage actuator system configured to move a linkage of a first limb of the animated figure along the first limb.

18. The control system of claim 17, wherein the linkage actuator system comprises a slider linkage actuator configured to move the linkage laterally relative to the first limb.

19. The control system of claim 15, wherein the second actuator system is configured to move the second end of the second limb along a slide, wherein the slide is coupled to the second limb.

20. A method for operating an animated character, the method comprising: activating a first actuator system to move a first end of a first limb of the animated figure in a direction, wherein the first actuator system is coupled to the first end of the first limb of the animated figure and is configured to move the first end; actuating a second actuator system in response to a first end of a first limb of the animated figure reaching a position to move the carrier in the direction, wherein the animated figure is disposed on the carrier and configured to move with the carrier; as well as The first actuator system is operated in response to activation of the second actuator system to move a first end of a first limb of the animated figure opposite to the direction.

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