Animation figure walking mechanism

Abstract

The walking-type animation figure system 10 includes an animation figure 12 having a main body 16 from which a first pair of limbs 18 and a second pair of limbs 20 extend. The system also includes a carrier 14 configured to be disposed on a support 30, and the animation figure 12 extends away from a side of the carrier 14 in a certain direction. The carrier 14 is coupled to the first pair of limbs 18 through a first actuator system 24 configured to move the first pair of limbs 18 away from the side of the carrier 14 in the above direction and to slide the ends 22 of the first pair of limbs 18 laterally with respect to the above direction. The carrier 14 translates relative to the support 30 through 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 the operation of the first actuator system 24 and the second actuator system 32 to produce a walking effect.

Description

Technical Field

[0001] The present disclosure generally relates to an animation figure control system. Specifically, embodiments of the present disclosure relate to an animation figure control system that facilitates animation effects such as walking effects.

Background Art

[0002] Typically, amusement parks include various attractions that provide guests with unique experiences. For example, amusement parks can include various show performances. As technology continues to advance, the sophistication and complexity of such attractions have also increased. In response, expectations regarding the entertainment quality of attractions have also risen, and a more immersive effect is desired.

[0003] Generally, an animation figure (e.g., a doll, an animated character, a marionette, and / or other animated creature) can appear to move via the actions of a performer such as a puppeteer and / or a mechanical actuator. In some cases, the movements of the puppeteer can create corresponding movements of the animation figure, creating an illusion or impression that the animation figure is alive or operating autonomously (e.g., operating as an autonomous robot). Similarly, in addition to or instead of the movements of the performer, actuators, motors, and / or other driving devices can be utilized to create the movements of the animation figure. In some cases, the movements of the animation figure may be limited by the capabilities of the performer. In addition to or instead of this, the entertainment's sense of reality and immersion may be reduced by the audience watching the animation figure noticing the performer and / or the actuators, motors, and / or driving devices.

[0004] This section is for introducing to the reader various aspects of technologies that may be related to various aspects of the present technology described and / or claimed below. This discussion is considered to be helpful in showing the background to the reader and facilitating a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these descriptions are not to be taken as admitting prior art, but should be read from the above perspective.

Summary of the Invention

[0005] The following shows an overview of some embodiments disclosed in this specification. It should be understood that these aspects are merely to show the reader a summary of some of these embodiments and do not limit the scope of the present disclosure. In fact, the present disclosure can include various aspects that may not be shown below.

[0006] In one embodiment, a walking animation figure system according to the present disclosure is provided. The system includes an animation figure having a body with a first pair of limbs and a second pair of limbs extending therefrom. The system also includes a carrier configured to be disposed on a support, and the animation figure extends away from a side of the carrier in a certain direction. The carrier is coupled to the first pair of limbs through a first actuator system configured to move the first pair of limbs away from the side of the carrier in the above direction and slide the ends of the first pair of limbs laterally with respect to the above direction. The carrier translates relative to the support through a second actuator system. The system also includes a controller communicatively coupled to the first actuator system and the second actuator system and configured to coordinate the operation of the first actuator system and the second actuator system to produce a walking effect.

[0007] In one embodiment, a control system according to the present disclosure is provided. 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 on which the animated figure is disposed. The system includes a controller including a processor, the controller being configured to operate the second actuator system to move the second end of the second limb of the animated figure along a certain direction, and in response to the second end of the second limb of the animated figure reaching a certain position, operate the third actuator system to move the carrier along the above direction, and in response to the operation of the third actuator system, operate the second actuator system to move the second end of the second limb of the animated figure in the reverse direction of the above direction.

[0008] In one embodiment, a method according to the present disclosure is provided. The method includes operating a first actuator system to move a first end of a first limb of an animated figure, the first actuator system being coupled to the first end of the first limb of the animated figure and configured to move the first end. The method includes, in response to the first end of the first limb of the animated figure reaching a certain position, operating a second actuator system to move a carrier along the above direction. The animated figure is disposed on the carrier and configured to move with the carrier. The method includes, in response to the operation of the second actuator system, operating the first actuator system to move the first end of the first limb of the animated figure in the reverse direction of the above direction.

[0009] These and other features, aspects, and advantages of the present disclosure will be better understood by reading the following detailed description with reference to the accompanying drawings in which like elements are denoted by like symbols throughout.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Modes for Carrying Out the Invention

[0011] Hereinafter, one or more specific embodiments will be described. In order to briefly describe these embodiments, not all of the implementation features are described in this specification. It should be understood that in any such implementation development found in any engineering or design project, numerous implementation-specific decisions must be made to achieve the specific objectives of the developer, such as compliance with system-related and business-related constraints that may vary depending on the implementation. Furthermore, although such development efforts may be complex and time-consuming, it should be understood that for those skilled in the art who benefit from the present disclosure, they are routine efforts in design, fabrication, and manufacturing.

[0012] When introducing elements of various embodiments of the present disclosure, articles such as "a", "an", and "the" are intended to mean that these elements are present one or two or three or more. The terms "comprising", "including", and "having" are intended to be inclusive and mean that additional elements other than the recited elements may exist. Also, it should be understood that references to "one embodiment" or "an embodiment" of the present disclosure are not intended to be construed as precluding the existence of additional embodiments that also include the recited features.

[0013] At venues such as amusement parks, it has become common to form performance displays that can include scenery, special effects, audio-visual features, and other media elements to enhance the visitor experience. Specifically, such performance displays (e.g., ride environments) can involve animated figures that can employ robotics (e.g., soft robotics), puppetry, mechanical actuation, hydraulic actuation, electrical actuation, and the like. Creating immersive (e.g., lifelike) movements of such animated figures can be difficult, complex, and costly. For example, some movements that occur in nature can be extremely difficult to mimic without employing very complex stabilization control and very precise structures. As a specific example, mimicking realistic human walking movements can be difficult and expensive, especially due to the complexity of balancing the animated figure and hiding the actuators among other issues. Therefore, there is a recognized need for improved systems and methods that provide specific movements and illusions of movement via animated figures to enhance the immersion, efficiency, and entertainment value of experiences and narratives at venues such as amusement parks. Note that the term "animated figure" as used in this disclosure can include characters, dolls, marionettes, animated features, or automated figures, among other things, along with supporting components (e.g., controllers, physical supports, base structures, actuators, motors, aesthetics, theming materials).

[0014] According to the present disclosure, an animated figure can be utilized to create an illusion that a character, creature (e.g., alien robot), or device that should be fictional is alive or active. For example, a controller (e.g., a performer, a control system) can cause the movement of the animated figure based on the operation of an actuator (e.g., physical or electrical operation). The controller can coordinately move some features of the animated figure (e.g., the head, arms, legs, and / or mouth) to mimic or execute a specific movement pattern, thus creating an illusion that the animated figure is essentially alive. The animated figure can be controlled via the operation of an actuator, a motor, and / or other driving devices that move the animated figure based on commands from the controller, and the controller can be separated from the animated figure, integrated with the animated figure, or close to the animated figure. This embodiment can also incorporate features that hide the operational aspects from the audience in addition to creating a desired movement pattern or profile. In practice, some aspects related to the controlled coordinated movement of the animated figure (e.g., motors, actuators, related movements) can be hidden (e.g., camouflaged) so that the audience does not clearly recognize how the movements of the animated figure are coordinated to achieve the effect. Further, this embodiment provides such movement or operation in a form that facilitates the efficient operation, maintenance, and control of the animated figure.

[0015] An embodiment of the present disclosure relates to a walking animation figure system that uses an arrangement of mechanical mechanisms and actuators to enable the legs of a figure of a character assembly (e.g., a model of a bipedal creature) to move in a walking pattern. For example, the walking animation figure system can include a cart, dolly, wheeled chassis, and / or another suitable portable frame that can support a character assembly. The character assembly can include structural components or features that resemble a creature or character, actuators (e.g., electric motors, hydraulic motors) for controlling the movement of the components or features, automatic control features (e.g., buttons, steering wheels, joysticks, pedals) for activating or deactivating the actuators, manual control features (e.g., stilts, handholds, footholds) for controlling the movement of the components or features, auxiliary features, and any combination thereof. Thus, the character assembly can be positioned and controlled to create the illusion that the character is walking across a platform (e.g., a stage). Moreover, certain features of the walking animated figure system can be actuated in coordination to produce relative motions (e.g., the sliding of a support structure coupled with the lifting of limbs) that create the illusion of movement familiar from the natural world.

[0016] Referring to the drawings, FIG. 1 is a perspective view of an embodiment of a walking-type animation figure system 10 according to an embodiment of the present disclosure. As shown in the exemplary embodiment of FIG. 1, the walking-type animation figure system 10 can include an animation figure 12 and a carrier 14 that cooperate to facilitate the walking effect of the animation figure according to an embodiment of the present disclosure. The animation figure 12 can include a main body 16, a first set of limbs 18 coupled to the main body 16, and a second set of limbs 20 coupled to the main body 16. The first set of limbs 18 and the second set of limbs 20 are both propulsive limbs (e.g., legs) that are perceived as directly propelling the animation figure 12, as opposed to other limbs or appendages (e.g., arms) that can be perceived as decorative or supportive (e.g., assisting with balance). Although the illustrated embodiment mimics a bipedal humanoid, other embodiments can adopt additional propulsive limbs to mimic other entities (e.g., quadrupedal figures). Also, the references to "first" and "second" with respect to the limbs 18 and 20 are for ease of explanation and distinction only, and these terms can be used interchangeably.

[0017] As shown in FIG. 1, various actuator systems cooperate to move different aspects of the animation figure system 10 to produce a walking effect. That is, when various actuators operate or move continuously, the animation figure system 10 appears to be walking along a path or walking with a shuffling gait. This illusion is created by tilting the first limb 18 (in various directions relative to other movements), sliding the second limb 20 relative to the carrier 14, and then sliding the carrier 14 relative to the second limb 20 and pulling it along with the first limb 18 along the first limb 18. By repeating and combining this series of movements, an impression can be given to the observer that the animation figure 12 is walking or shuffling along a support structure (e.g., a floor material or a stage) relative to which the carrier 14 is moving. By using the carrier 14 to provide forward movement and hiding this movement (e.g., within a channel in the support structure), the carrier 14 can firmly support the animation figure 12, thus eliminating the complex balancing requirements and high power requirements demanded by conventional walking mechanisms. Further, by the carrier 14 accommodating the operating components for the animation figure 12, a larger, inexpensive, and easily accessible operating mechanism can be used, resulting in improved operating efficiency (e.g., enabling more efficient maintenance and less expensive equipment).

[0018] In an embodiment of the present disclosure, a first end 22 of a first limb 18 is coupled to a carrier 14 via a first actuator system 24. The first actuator system 24 can be configured to move the first end 22 away from a side portion 26 of the carrier 14 and then again in an inclined manner toward the side portion 26 of the carrier 14. This forward and backward inclined movement generally occurs along a direction 28 and can impart a corresponding movement to other components of the body 16 throughout the first limb 18. Specifically, the first actuator system 24 can operate to effect such movement based on the operation of other features of the animation figure system 10 coupled to the first actuator system 24, or can include a pivot joint 23 that enables such movement. The first actuator system 24 can also be configured to swing the first end 22 of the first limb 18 laterally with respect to the direction 28. Specifically, for example, the first actuator system 24 can include a rocker support 25 (which can also be coupled to or include the pivot joint 23 described above and coupled to the first end 22), and the rocker support 25 can rotate about an axis 29 of the first actuator system 24 to cause a swing imparted to the first end 22, thereby causing a corresponding movement of other features of the first limb 18 or other features of the body 16.

[0019] The first actuator system 24 can be coupled to the carrier 14 and can include being housed by or being integral with the carrier 14. For example, the carrier 14 can house a motor 31 or other actuation mechanism that causes the movement or operation of the first actuator system 24 to achieve the above-described effects. The carrier 14 is movably disposed on a support 30 (e.g., a stage, a floor, a base structure) and can be coupled to the support 30 via a second actuator system 32 (e.g., a bogie system, a vehicle, a sled, a trolley). The second actuator system 32 can be configured to translate the carrier 14 relative to the support 30. Further, the movement of the carrier 14 relative to the support 30 can be camouflaged or hidden to improve the illusion of walking. For example, the support 30 itself can hide the carrier 14 within its groove or behind a panel so that an observer does not see the carrier translating the animated figure 12 across the support.

[0020] In some embodiments, the first actuator system 24 and the second actuator system 32 can provide a walking effect without involving the second limb 20. For example, certain movements of the carrier 14 and the first limb 18 can form some form of walking movement or at least a part of the walking movement. The first actuator system 24 and the second actuator system 32 can be communicatively coupled to a controller 34. The controller 34 can include a memory device 36 (M), a processor 38 (P), a user interface 40 (UI), and a communication component 41 (C). The controller 34 can be configured to coordinate the operation of the first actuator system 24 and the second actuator system 32 to provide a walking effect or a part of the overall walking effect. For example, the controller 34 can coordinate the translation or tilt of the first end 22 of the first limb 18 with respect to the carrier 14 with the translation of the carrier 14 with respect to the support 30 to create an illusion that the animated figure 12 is bouncing or running across the support 30. The user interface 40 can be used to receive user input regarding the operation of the animated figure 12 and the carrier 14. In some embodiments, the animated figure 12 and the carrier 14 can be controlled via a pre-programmed sequence stored in the memory device 36 and executed by the processor 38 of the controller 34. In some embodiments, the controller 34 can communicate with other devices through the communication component 41 and receive / transmit data related to the operation of the animated figure 12 and the carrier 14. For example, the animated figure 12 can be part of a story or scene and can be controlled to operate in a predetermined pattern with other attractions in an amusement park. The communication component 41 can be a wireless or wired communication component that can facilitate communication between the controller 34 and various other controllers and devices via a network or the Internet, etc.For example, communication component 41 can enable controller 34 to obtain data from various data sources (such as databases and networks). In some embodiments, animation figure 12 and carrier 14 can be remotely controlled through the network. Communication component 41 can use various 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.

[0021] In some embodiments, the second end 42 of the second limb 20 can be coupled to the carrier 14 through a third actuator system 44 that can also be communicatively coupled to the controller 34 (along with the first actuator system 24 and the second actuator system 32). The third actuator system 44 can be configured to move the second limb 20 relative to the carrier 14 in a plurality of ways. For example, the third actuator system 44 can tilt the second end 42 back and forth (or laterally with respect to direction 28) generally along direction 28, raise and lower the second end relative to the carrier 14 along direction 43 (e.g., perpendicular to direction 28 or otherwise laterally), and slide the second end 42 back and forth generally along direction 28. Specifically, for example, the third actuator system 44 can include a slide 46 that includes a thread 45 configured to travel back and forth along a guide 47. In the illustrated embodiment, the slide 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 along direction 28 (although it is also tilted with respect to direction 28). Thus, when the thread 45 slides back and forth along the guide 47, a sliding motion is imparted to the second limb 20 through the second end 42. A direct sliding motion along direction 28 can create an even more exaggerated striding illusion, and a sliding motion angled with respect to direction 28 can create an even more pronounced limping illusion. In this regard, other aspects of the third actuator system 44 can raise and lower, and / or tilt (e.g., along direction 43 or laterally with respect to direction 43), the second end 42 relative to the carrier 14 to enhance the realism of the walking effect. In one embodiment, the slide 46 can be coupled to the second end 42 at a hinge 48. In some embodiments, the slide 46 can be coupled to the second end 42 through an elevator 50 coupled to the second end 42 through a hinge 48. The elevator 50 is configured to translate along the guide 47 while varying the height of the second end 42.The hinge 48 can include a ball joint 52 extending from a distal portion 54 of a second end 42 of the second limb 20. As described above, the controller 34 can 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 or a fixed pattern of actuation commands can result in an enhanced walking effect, such as an illusion of autonomous movement of the animated figure 12 illustrated and described in detail in FIG. 2.

[0022] In some embodiments, a linkage 56 can be coupled to a first end 22 of a first limb 18 through a first linkage end 58. A second linkage end 60 of the linkage 56 can be coupled to the body 16. In some embodiments, the second linkage end 60 of the linkage 56 can be coupled to a 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 away from the side 26 of the carrier 14 in generally the direction 28. The linkage 56 can be a living hinge, a spring-biased hinge, a bearing hinge, or any combination thereof. In some embodiments, the first linkage end 58 can 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 then bend back towards the first limb 18 during an operating cycle 65 of the linkage actuator 64. In some embodiments, the linkage actuator 64 can be coupled to the first linkage end 58 via a hinge 66. The linkage actuator 64 can be configured to slide the first linkage end 58 back and forth along the first limb 18. A sliding actuator 68 can be coupled to the linkage 56 at a position between the first linkage end 58 and the second linkage end 60 and configured to slide the linkage 56 back and forth generally along the direction 28. The linkage actuator 64 and the sliding actuator 68 can be communicatively coupled to a controller 34. The controller 34 can coordinate the operation of the linkage actuator 64 and the sliding actuator 68 to cause a pose change in the first limb 18 during the walking process of the animated figure 12 (e.g., lifting the first limb 18 and bending around the joints of the first limb 18 at the same time). For example, the sliding actuator 68 can slide along the direction 28 during a portion of its operating cycle and push the linkage 56 away from the first limb 18 so that the linkage 56 lifts the first end 22 of the first limb 18 away from the carrier 14.In the illustrated embodiment, the sliding actuator 68 slides along the opposite side of direction 28 during another part of its operating cycle to pull the linkage 56 back to the first leg 18, so that the linkage 56 can release the first end 22 of the first leg 18 and return it to the carrier 14. In some embodiments, a second linkage similar to the first linkage 56 can be coupled to the second leg 20 and configured to bend away from the second leg 20 in a manner similar to that described above for the first linkage 56. In some embodiments, the controller 34 can 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 an illusion of autonomous movement of the animated figure 12 illustrated in and described in detail in FIG. 2. In some embodiments, a similar linkage system is also included in the second leg 20.

[0023] FIG. 2 is a schematic side view of an embodiment of a walking-type animated figure that can be used in the walking-type animated figure system of FIG. 1. In some embodiments, the carrier 14 can be disposed on the support 30, and the side portion 26 of the carrier 14 can be in a displacement 70 (D) along the direction 28 with respect to the reference position 72 on the support 30. The carrier 14 can be configured to translate along the direction 28 by the actuator system 32.

[0024] In FIG. 2, the second end 42 of the second limb 20 can be configured to slide along the sliding portion 46 between the first sliding end 74 and the second sliding end 76 of the sliding portion 46. In the embodiment shown in FIG. 2, the second end 42 of the second limb 20 is in a displacement 78 (dL) along the direction 28 with respect to the side portion 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 with respect to the reference position 72 on the support 30. Accordingly, the displacement 80 (Ds) is the sum of the displacement 78 (dL) and the displacement 70 (D). In the embodiment shown in FIG. 2, the first sliding end 74 of the sliding portion 46 is in a displacement L0 (for example, a predetermined value) along the direction 28 with respect to the side portion 26. The movement of the second end 42 along the direction 28 can be controlled by the actuator system 44.

[0025] In the illustrated embodiment, the displacement 80 (Ds) of the second end 42 of the second limb 20 along the direction 28 with respect 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 animation figure 12. For example, in the illustrated embodiment, at time t0, the second end 42 can be located at the first sliding end 74 of the sliding portion 46. Thus, in this embodiment, at time t0, the displacement 78 (dL) has a value of L0. The displacement 70 (D) of the side portion 26 with respect to the reference position 72 on the support 30 can have a value of D0. Thus, the displacement 80 (Ds) can have a value equal to the sum of L0 and D0. At time t1, in response to receiving a trigger signal, the actuator system 44 can begin to move the second end 42 along the direction 28, and accordingly, the displacement 78 (dL) can be changed. At time t2, the second end 42 can stop at a position on the sliding portion 46 where the displacement 78 (dL) has a value of D1, and in the illustrated embodiment, D1 can be greater than L0. However, in other embodiments, the actuator system 44 can also move the second end 42 along the opposite direction of the direction 28, and D1 can be smaller than L0 at time t2. The actuator system 32 can be inoperative (or the position of the second end 42 can be otherwise maintained) during the period from time t0 to time t2. The animation figure 12 can start an idling period at time t2, and during this period, it can perform actions including speaking words, making gestures, making expressions, changing poses, etc. without changing the displacement 78 (dL) of the second end 42 and the displacement 70 (D) of the side portion 26 of the carrier 14. It should be noted that the animation figure 12 can also move other parts of the first limb, the second limb and / or the body 16 during the idling period, for example, it can be lifted, rotated, shaken, and the pose can be changed, etc. At time t3, the actuator system 32 can begin to move the carrier 14 along the direction 28, and at the same time, the actuator system 44 can perform an operation of moving the second end 42 along the opposite direction of the direction 28.Actuator system 32 and actuator system 44 can cooperate such that the displacement 70 (D) occurring in the carrier 14 by actuator system 32 has the same value as the displacement 78 (dL) occurring at the second end 42 by actuator system 44, but in the opposite direction. Thus, actuator system 32 and actuator system 44 can cooperate to create the illusion that the first limb 18 is moving relative to the second limb 20 while the second end 42 of the second limb 20 remains stationary relative to the support 30. At time t4, while the side 26 of the carrier 14 is at a displacement D1 relative to the reference position 72 on the support 30, the second end 42 can return to the first sliding end 74 of the sliding part 46. Thus, when the carrier 14 is hidden from the observer, the observer can be under the illusion that the animated figure 12 is walking across the support 30 without being controlled externally (e.g., by actuators, boom arms, and strings, etc.).

[0026] In the embodiment shown in FIG. 2, the linkage 56 of the first limb 18 can be configured to bend away from the first limb 18 and then bend back toward the first limb 18 throughout the operating cycle 65 of the linkage actuator 64. In the above-described embodiment, the sliding actuator 68 can maintain the linkage 56 at a displacement 82 (df) from the first limb 18. The displacement 82 (df) can have the same value df0 during the period from time t0 to time t3, that is, the sliding actuator 68 can hold the linkage 56 stationary with respect 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 start pulling the linkage 56 back toward the first limb 18, and thus decrease the value of the displacement 82 (df). At time t4, the linkage 56 returns to its position at time t0, that is, the displacement 82 (df) has a value of df0. The sliding actuator 68 can cooperate with other actuators (e.g., the linkage actuator 64, the first actuator system 24) to create the illusion that the first limb 18 is bending during movement. FIG. 2 also shows a second linkage 84 for the second limb 20. Note that a sliding part (e.g., similar to the sliding part 46) can also be attached to the first limb 18 so that the first limb 18 can be configured to move with respect to the carrier 14.

[0027] Figure 3 shows a timing diagram comparison 86 of the translational timing of the animation figure system 10 in some embodiments as described above with reference to Figure 2. Plot 88 shows an embodiment of displacement 80 (Ds) with respect to translational time t (i.e., t0, t1, t2, t3, and t4). Plot 90 shows displacement 78 (dL) with respect to translational time t (i.e., t0, t1, t2, t3, and t4) in this embodiment. Plot 92 shows displacement 70 (D) with respect to translational time t (i.e., t0, t1, t2, t3, and t4) in this embodiment. Plot 94 shows displacement 82 (df) with respect to translational time t (i.e., t0, t1, t2, t3, and t4) in this embodiment. Note that in other embodiments, displacement 80 (Ds) with respect to translational time t, displacement 78 (dL) with respect to translational time t, displacement 70 (D) with respect to translational time t, or displacement 82 (df) with respect to translational time t may not be linear (i.e., the rate of change of displacement can vary with time for 80 (Ds), 78 (dL), 70 (D), or 82 (df)). For example, in some embodiments, during the period from time point t1 to time point t2, the second end 42 of the second limb 20 can move faster at time point t1, slower at time point t2, interrupt its movement, and move back and forth along direction 28. Thus, displacement 78 (dL) can be non-linear during the period from time point t1 to time point t2.

[0028] In the embodiment described with reference to Figure 3, as shown by plots 88, 90, and 92, displacement 80 (Ds) can be the sum of the displacement 70 (D) of the side portion 26 (i.e., D0) and the displacement 78 (dL) of the second end 42 (i.e., L0, i.e., the second end 42 is located at the first sliding end 74 of the sliding portion 46) at time point t0.

[0029] At time point t1, as shown by plot 90, the actuator system 44 can start increasing displacement 78 (dL) by moving the second end 42 along direction 28 in response to a trigger event.

[0030] At time t2, the second end 42 of the second limb 20 can translate to a position on the slider 46 where the displacement 78 (dL) has the value D1, and the actuator system 44 can stop moving the second end 42 along the direction 28. As shown in plot 90, an idling period can start at time t2.

[0031] At time t3, as shown in plot 92, the actuator system 32 can operate to move the carrier along the direction 28. At time t3, the actuator system 44 can move the second end 42 along the opposite of the direction 28, and the displacement 78 (dL) can decrease as shown in plot 90. However, as shown in plot 88, the displacement 80 (Ds) can remain unchanged by the cooperation between the actuator system 32 and the actuator system 44. At time t3, the sliding actuator can operate to move the linkage 56 away from the first limb 18, so that the displacement 82 (df) can increase as shown in plot 94. At time ts (for example, ts < t4), the displacement 82 (df) can have the value of df1, and the displacement 82 (df) can decrease by the sliding actuator starting to return the linkage 56 to the first limb 18.

[0032] At time t4, the side 26 of the carrier 14 can translate (together with the carrier 14) to a position where the displacement 70 (D) has the value D1, and the second end 42 of the second limb can return to the first sliding end 74 of the slider as shown in plots 90 and 92 (that is, the displacement 78 (dL) has the value L0). At time t4, by the linkage 56 being pulled back to the first limb 18, the displacement 82 (df) can have the value of df0 as shown in plot 94. However, as shown in plot 88, at time t4, due to the relationship between the displacement 80 (Ds), the displacement 70 (D) and the displacement 78 (dL), the displacement 80 (Ds) does not change and can have the value of D1.

[0033] Figure 4 shows the formation of a series of positioning diagrams that depict the relative positioning of aspects of the animation figure system 10 over a certain operating period, according to the present embodiment. Diagrams 98, 100, 102, and 104 show the walking effect 96 of the animation figure system 10 in conjunction with the corresponding relationships of displacements 70 (D), 80 (Ds), and 78 (dL) to create the illusion that the animation figure 12 is walking on the support 30.

[0034] Diagrams 98 and 100 show the first relationship between displacements 78 (dL) and 80 (Ds) when the carrier 14 is not moving along direction 28 relative to the reference position 72 on the support 30, i.e., 78 (dL) = 80 (Ds) and 70 (D) = 0. In diagram 98, the second end 42 of the second limb 20 is at the first sliding end 74 of the sliding part 46, and the side part 26 of the carrier 14 is at the reference position 72, i.e., 70 (D) = 0. In diagram 100, the second end 42 of the second limb 20 has moved to the second sliding end 76 of the sliding part 46, and the side part 26 of the carrier 14 is located at the reference position 72, i.e., 70 (D) = 0. That is, diagrams 98 and 100 show the animation figure 12 in which the second limb 20 takes a step forward along direction 28 on the carrier 14 and is walking.

[0035] Diagram 102 shows the state in which the side portion 26 of the carrier 14 has moved forward along the direction 28 to a position 106 having a displacement of L1 along the direction 28 with respect to the reference position 72. Accordingly, in Diagram 102, the displacement 70 (D) has the value of L1, that is, 78 (dL)+L1 = 80 (Ds). At the same time, the second end portion 42 of the second limb 20 moves along the direction opposite to the direction 28 to a position 108 on the sliding portion 46, and the position 108 is located between the first sliding end 74 and the second sliding end 76 of the sliding portion 46. That is, in relation to other positions, the positional relationship shown by Diagram 102 creates an illusion that the first limb 18 of the animated figure 12 moving along the direction 28 together with the carrier 14 moves on the support 30 and follows the second limb 20.

[0036] Diagram 104 shows the state in which the side portion 26 of the carrier 14 has moved further along the direction 28 to a position 110 having a displacement of L2 along the direction with respect to the reference position 72. Accordingly, in Diagram 104, the displacement 70 (D) has the value of L2, that is, 78 (dL)+L2 = 80 (Ds). At the same time, the second end portion 42 of the second limb 20 moves along the direction opposite to the direction 28 and returns to the first sliding end 74 of the sliding portion 46. That is, Diagram 104 creates an illusion that the first limb 18 of the animated figure 12 moving along the direction 28 together with the carrier 14 moves on the support 30 and catches up with the second limb 20.

[0037] Accordingly, FIG. 4 shows a walking effect 96 in which the animated figure 12 takes a step forward along the direction 28 on the support 30 by using the relative positions of the carrier 14, the first limb 18 (which has not moved relative to the carrier 14 in the illustrated embodiment), the second limb 20, and the reference position 72 on the support 30. Note that various actuator systems can cooperate with each other to move different aspects of the animated figure system 10 to bring about the walking effect 96 shown in FIG. 4. Further, although FIG. 4 is intended to show an aspect of the walking effect 96 provided by an embodiment of the present disclosure, this embodiment can also achieve other movements or walking effects with different positioning, sizes, paths, etc.

[0038] In this specification, only some features of the present invention have been illustrated and described, but many modifications and changes will occur to those skilled in the art. Therefore, it should be understood that the appended claims are intended to cover all such modifications and changes that are included within the true spirit of the present invention.

[0039] The technology shown and claimed in this specification refers to and applies to tangible things and specific examples of a practical nature that surely improve this technical field and are thus not abstract, intangible, or purely theoretical. Further, if any claim appended at the end of this specification includes one or more elements designated as "means for [performing]... [function]" or "steps for [performing]... [function]", such elements should be construed in accordance with 35 U.S.C. § 112(f). On the other hand, for any claim that includes elements designated in any other form, such elements should not be construed in accordance with 35 U.S.C. § 112(f).

Explanation of Reference Numerals

[0040] 10 Walking-type animated figure system 12 Animated figure 14 Carrier 16 Body 18 First limb 20 Second Limb 22 First End of the First Limb 23 Pivoting Joint 24 First Actuator System 25 Rocker Support 26 Side of the Carrier 27 Side of the Carrier 28 Direction 30 Support 31 Motor 32 Second Actuator System 34 Controller 36 Memory Device 38 Processor 40 User Interface 41 Communication Component 42 Second End of the Second Limb 43 Direction 44 Third Actuator System 45 Thread 46 Sliding Part 47 Guide 48 Hinge 50 Elevator 52 Ball Joint 54 Distal Portion of the Second End 56 Linkage 58 First Linkage End 60 Second Linkage End 62 Third End of the First Limb 64 Linkage Actuator 66 Hinge 68 Sliding Actuator

Claims

1. It is a walking animation figure system, An animation figure having a main body, from which first limbs and second limbs extend; A carrier configured to be placed on a support, wherein the animation figure extends away from the side of the carrier in a first direction, A first actuator system is coupled to the carrier and the first limbs and configured to slide the ends of the first limbs along a second direction, A second actuator system configured to translate the carrier relative to the support, A controller that is communicatively coupled to the first actuator system and the second actuator system and configured to coordinate the operation of the first actuator system and the second actuator system to produce a walking effect, The controller is equipped with, The first actuator system is activated to slide the end of the first limb along the second direction, Based on the positioning of the ends of the first limbs, the second actuator system is activated to move the carrier along the second direction. Based on the positioning of the carrier, the first actuator system is activated to slide the ends of the first limbs in the opposite direction to the second direction. A walking animation figure system configured as follows.

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

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

4. The walking animation figure system according to claim 3, wherein the third actuator system is configured to translate the end of the second limb.

5. The walking animation figure system according to claim 1, further comprising a third actuator system coupled to the second limb, wherein the third actuator system comprises a sliding portion coupled to the end of the second limb, and the sliding portion is configured to translate.

6. The walking animation figure system according to claim 1, wherein the first actuator system includes a sliding part having a thread configured to cross a guide, and the first limbs are coupled to the thread at a hinge.

7. The walking animation figure system according to claim 1, wherein the first limbs are connected to a thread via an elevator and a hinge, and the elevator is configured to translate along the first direction.

8. The walking animation figure system according to claim 7, wherein the hinge comprises a ball joint extending from the distal portion of the first limb.

9. A walking animation figure system according to claim 1, comprising a linkage having a first linkage end connected to the end of the first limb and a second linkage end connected to the main body or a further end of the first limb, wherein the linkage is configured to bend away from the first limb.

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

11. The walking animation figure system according to claim 9, wherein the linkage includes a living hinge, a spring-driven hinge, or a bearing hinge.

12. The walking animation figure system according to claim 9, wherein the first linkage end is connected to the end of the first limb via a linkage actuator, and the linkage is configured to bend away from the first limb and then bend again toward the first limb throughout the entire operating cycle of the linkage actuator.

13. The walking animation figure system according to claim 1, wherein the first limbs and the second limbs are capable of walking.

14. A walking animation figure system according to claim 1, comprising a first linkage connected to the first limb and a second linkage connected to the second limb, wherein the first linkage is configured to bend away from the first limb when the first linkage is activated, and the second linkage is configured to bend away from the second limb when the second linkage is activated.

15. A control system, A first actuator system configured to move the first end of the first limb of an animated figure, A second actuator system configured to move the second end of the second limb of the animation figure, A third actuator system configured to move the carrier on which the animation figure is placed, A controller equipped with a processor, The processor is equipped with, The second actuator system is activated to move the second end of the second limb of the animated figure along a certain direction. In response to the second end of the second limb of the animated figure reaching a certain position, the third actuator system is activated to move the carrier along the direction. In response to the operation of the third actuator system, the second actuator system is activated to move the second end of the second limb of the animated figure in the opposite direction. A control system configured in such a way.

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

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

18. The control system according to claim 17, wherein the linkage actuator system comprises a sliding linkage actuator configured to move the linkage laterally with respect to the first limb.

19. The control system according to claim 15, wherein the second actuator system is configured to move the second end of the second limb along a sliding portion connected to the second limb.

20. It is a method, Activating a first actuator system, which is connected to the first end of the first limb of the animated figure and configured to move the first end, to move the first end of the first limb of the animated figure along a certain direction, Based on the positioning of the first end of the first limb, the second actuator system is activated to move the carrier along the direction, wherein the animated figure is positioned on the carrier and configured to move with the carrier. Based on the positioning of the carrier, the first actuator system is operated to move the first end of the first limb of the animated figure in the opposite direction. Methods that include...

21. It is a walking animation figure system, An animated figure having a main body from which limbs extend, An actuator system connected to the limbs and configured to move the limbs along a certain direction, It is a linkage, A first linkage end is attached to the limb in close proximity to the first end of the limb, A second linkage end is connected to the main body or the limb, adjacent to the second end of the limb, A linkage equipped with, A sliding actuator system configured to slide the linkage back and forth along the direction such that the linkage detaches from the limb and then hinges toward the limb again, A controller, which is communicatively coupled to the actuator system and configured to coordinate the operation of the actuator system, A walking animation figure system equipped with this feature.

22. The walking animation figure system according to claim 21, wherein the first linkage end is coupled in close proximity to the first end of the limb via the sliding actuator system, and the sliding actuator system is configured to slide the first linkage end along the limb.

23. The controller is communicatively coupled to the sliding actuator system. The controller is configured to coordinate the operation of the actuator system and the sliding actuator system to move the linkage and the limbs together to produce a walking effect. The walking animation figure system according to claim 21.

24. The walking animation figure system according to claim 21, wherein the linkage includes a living hinge, a spring-driven hinge, a bearing hinge, or a combination thereof.

25. The walking animation figure system according to claim 21, wherein the sliding actuator system is configured to slide the linkage back and forth along the direction by sliding the first linkage end relative to the second linkage end, and the second linkage end is fixed to the main body or the limbs.

26. The walking animation figure system according to claim 21, comprising a carrier that supports the main body via connections with the limbs, wherein the controller is configured to move the limbs away from the sides of the carrier in the direction described above.

27. The walking animation figure system according to claim 26, wherein the sliding actuator system is configured to bend the linkage away from the limb in response to the actuator system moving the limb away from the side of the carrier in the direction described above.

28. The walking animation figure system according to claim 21, wherein the animation figure comprises further limbs extending from the main body and further linkages connected to the further limbs.

29. The walking animation figure system according to claim 28, wherein the further linkage is configured to bend away from the further limb when the sliding actuator system is operated, or when a further sliding actuator system configured to slide the further linkage relative to the further limb is operated.

30. It is a system, An actuator system connected to the limbs of the animation figure, extending from the main body of the animation figure, A linkage extending in close proximity to the limbs and connected to the limbs or the main body portion via a first linkage end, A sliding actuator system coupled to the linkage, It is a controller, The actuator system is activated to move the limbs along a certain direction, The sliding actuator system is activated to cause the second linkage end to slide back and forth along the direction relative to the first linkage end. A controller configured to coordinate the operation of the actuator system and the sliding actuator system to produce a walking effect, A system that includes these features.

31. The system according to claim 30, wherein the controller is configured to actuate the sliding actuator system to cause the second linkage end to slide along the limb.

32. The system according to claim 31, wherein the linkage is configured to bend away from the limbs and then bend again toward the limbs during the operating cycle of the actuator system.

33. The system according to claim 31, wherein the linkage includes a living hinge, a spring-driven hinge, a bearing hinge, or a combination thereof.

34. The system according to claim 30, wherein the controller is configured to operate the animated figure based on a predetermined pattern.

35. The system according to claim 30, wherein the actuator system is configured to move the limbs away from the sides of the carrier in the direction described above.

36. The sliding actuator system is configured to bend the linkage away from the limbs in response to the actuator system moving the limbs away from the sides of the carrier in the direction described above, according to claim 35.

37. A method that produces a walking effect, Activating actuator systems connected to the ends of the limbs of an animated figure to move the limbs of the animated figure along a certain direction, The sliding actuator system is operated to slide the linkage back and forth along the aforementioned direction, wherein the first linkage end is fixedly connected to the animation figure, and the second linkage end is slidably connected to the animation figure, and the sliding is performed as described above. A method that includes this.

38. The method according to claim 37, comprising resisting bending of the limbs via a structural support.

39. The method according to claim 37, wherein in the operating cycle of the actuator system, the linkage is bent away from the limbs and then bent again toward the limbs.

40. The method according to claim 39, wherein bending the linkage includes bending a living hinge, a spring-driven hinge, a bearing hinge, or any combination thereof.

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