Animated figure system and method

Abstract

An animated figure system includes an animated figure having a central body portion and one or more appendages. Each appendage of the one or more appendages includes a proximal end portion opposite a distal end portion, and each appendage is pivotally coupled to the central body portion at the proximal end. The animated figure system further includes a boom system having a boom coupled to the central body portion. The boom system is configured to adjust a vertical position of the central body portion. Additionally, the animated figure system includes one or more actuators configured to position one or more magnets below a platform. The one or more magnets are configured to magnetically engage at least one of the distal end portions of the one or more appendages. Furthermore, the animated figure system includes a controller communicatively configured to coordinate motion of the boom and the one or more magnets.

Description

312487-4 (UNIV:0629PCT)ANIMATED FIGURE SYSTEM AND METHOD CROSS-REFERENCE TO RELATED APPLICATION

[0001] The present application claims priority' to and the benefit of U.S. Provisional Patent Application No. 63 / 758,667, entitled "Animated Figure System and Method,” which was filed on February 14, 2025, and U.S. Provisional Patent Application No.63 / 755,536, entitled “Animated Figure System and Method,” which was filed on February 7, 2025, each of which is hereby incorporated by reference in its entirety for all purposes.BACKGROUND

[0002] The present disclosure relates generally to an animated figure. More specifically, embodiments of the present disclosure relate to an animated figure configured to provide animation effects.

[0003] Amusement parks ty pically include various attractions that provide unique experiences for guests. For example, an amusement park may include various show performances. As technology has continued to improve, such attractions have increased in sophistication and complexity'. There is a corresponding increase in expectations regarding the entertainment quality of attractions and a need for more immersive effects. Some attractions may include animated figures (e.g.. robots, puppets) to entertain park guests who are queued for or within a ride experience. An animated figure may include various mechanisms (e.g., motors, drives, pistons, actuators) configured to move the animated figure to produce an animation effect (e.g., dynamic performance). In some cases, the mechanisms may be visible to the park guests, detracting from immersion of the ride experience.

[0004] This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present techniques, which are 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. Accordingly, it should be understood that these statements are to be read in this light, and not as admissions of prior art.312487-4 (UNIV:0629PCT)BRIEF DESCRIPTION

[0005] A summary of certain embodiments disclosed herein is set forth below. It should be understood that these aspects are presented merely to provide the reader with a brief summary of these certain embodiments and that these aspects are not intended to limit the scope of this disclosure. Indeed, this disclosure may encompass a variety of aspects that may not be set forth below.

[0006] In an embodiment, an animated figure system includes an animated figure disposed on a platform. The animated figure includes a central body portion and one or more appendages. Each appendage of the one or more appendages includes a proximal end portion opposite a distal end portion, and each appendage is pivotally coupled to the central body portion at the proximal end. The animated figure system further includes a boom system having a boom coupled to the central body portion. The boom system is configured to adjust a vertical position of the central body portion. Additionally, the animated figure system includes one or more actuators configured to position one or more magnets (e.g., permanent magnets or electromagnets) below the platform. The one or more magnets are configured to magnetically engage at least one of the distal end portions of the one or more appendages. Furthermore, the animated figure system includes a controller communicatively coupled to the boom system and the magnet control system. The controller is configured to coordinate motion of the boom and the one or more magnets.

[0007] In an embodiment, an animated figure system includes an animated figure disposed on a platform. The animated figure includes a central body portion and a first appendage having a proximal end portion pivotally coupled to the central body portion and a distal end portion configured to rest on the platform. Further, the first appendage includes at least one joint between the proximal end portion and the distal end portion. Additionally, the animated figure system includes a boom system having a boom coupled to the central body portion. The boom system is configured to adjust a vertical position of the central body portion relative to the platform. Furthermore, the animated figure system includes at least one magnet disposed under the platform. The at least one magnet is configured to magnetically engage to the distal end portion of the first appendage. The animated figure system further includes a magnet positioning312487-4 (UNIV:0629PCT)mechanism having one or more actuators configured to move the at least one magnet horizontally.

[0008] In an embodiment, a method of controlling an animated figure system includes receiving, by a controller, a prescribed appendage position of at least one appendage of an animated figure. The prescribed appendage position includes a foot placement of the at least one appendage, a joint angle of the at least one appendage, or both. The method also includes deriving, by the controller, atarget boom position based on the prescribed appendage position. Further, the method includes deriving, by the controller, a target magnet position of at least one magnet based on the prescribed appendage position. Additionally, the method includes transmitting, by the controller, a first control signal to a boom system of the animated figure system based on the target boom position. Furthermore, the method includes transmitting, by the controller, a second control signal to a magnet control system of the animated figure system based on the target magnet position.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

[0010] FIG. 1 is a diagram of an attraction system that includes an animated figure system, in accordance with embodiments of the present disclosure;

[0011] FIG. 2 is a schematic of a control system for an attraction system, in accordance w ith embodiments of the present disclosure:

[0012] FIG. 3 is a schematic perspective view of an animated figure system including a boom system, in accordance with embodiments of the present disclosure:

[0013] FIG. 4 is a schematic perspective view of an animated figure system including a boom system for controlling a torso position of an animated figure, in accordance w ith embodiments of the present disclosure:312487-4 (UNIV:0629PCT)

[0014] FIG. 5 is a schematic perspective view of an animated figure system including a boom system for controlling a torso position of an animated figure, in accordance with embodiments of the present disclosure;

[0015] FIG. 6 is a schematic perspective view of an animated figure system including a boom system for controlling a torso position of an animated figure, in accordance with embodiments of the present disclosure;

[0016] FIG. 7 is a diagram of an animated figure system including a boom system and a magnet control system, in accordance with embodiments of the present disclosure;

[0017] FIG. 8 is a diagram of an animated figure system including a magnet positioning mechanism, in accordance with embodiments of the present disclosure:

[0018] FIG. 9 is a diagram of an appendage positioning system of an animated figure system, in accordance with embodiments of the present disclosure;

[0019] FIG. 10 is a diagram of an animated figure system having a turntable system, in accordance with embodiments of the present disclosure;

[0020] FIG. 11 is a schematic perspective view of an elevator system of an animated figure system, in accordance with embodiments of the present disclosure;

[0021] FIG. 12 is a schematic perspective view of a platform translation system of an animated figure system, in accordance with embodiments of the present disclosure; and

[0022] FIG. 13 is a flow chart of a method for controlling an animated figure system, in accordance with embodiments of the present disclosure.DETAILED DESCRIPTION

[0023] One or more specific embodiments will be described below. In an effort to provide a concise description of these embodiments, not all features of an actual implementation are described in the specification. It should be appreciated that in the development of any such actual implementation, as in any engineering or design312487-4 (UNIV:0629PCT)project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure.

[0024] 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. As used herein, the terms “approximately,” “generally,” “substantially.” and so forth, are intended to convey that the property value being described may be within a relatively small range of the property value, as those of ordinary skill would understand. For example, when a property value is described as being “approximately” equal to (or, for example, “substantially similar” to) a given value, this is intended to convey that the property value may be within at least + / - 5%, within + / - 4%, within + / -3%, within + / - 2%, within + / - 1%, or even closer, of the given value. Similarly, when a given feature is described as being “substantially parallel” to another feature, “generally perpendicular” to another feature, and so forth, this is intended to convey that the given feature is within at least + / - 5%. within + / - 4%, within + / - 3%, within + / -2%, within + / - 1%, or even closer, to having the described nature, such as being parallel to another feature, being perpendicular to another feature, and so forth. Mathematical terms, such as “parallel” and “perpendicular,” should not be rigidly interpreted in a strict mathematical sense, but should instead be interpreted as one of ordinary skill in the art would interpret such terms. For example, one of ordinary skill in the art would understand that two lines that are substantially parallel to each other are parallel to a substantial degree, but may have minor deviation from exactly parallel, such as to account for manufacturing tolerances.312487-4 (UNIV:0629PCT)

[0025] It has become more common to create performance displays in venues such as amusement parks, wherein the performance displays may include scenery, special effects, audiovisual features, and other media elements that improve a visitor’s experience. Specifically, such performance displays (e.g., ride environments) may involve animated figures, which may employ robotics, puppeteering, mechanical actuation, hydraulic actuation, electrical actuation, and so forth. Creating immersive (e.g., life-like) movements for such animated figures can be difficult, complicated, and expensive. Additionally, the various mechanisms involved in animating the animated figures may be visually intrusive to the performance display, lessening the intended immersion for the visitor. For example, a mechanism may be desired to move an animated figure’s legs and / or feet as part of the performance display. It may be difficult, however, to hide such a mechanism from view of the visitor. Accordingly, it is now recognized that an improved system and method for providing certain movements and movement illusions via an animated figure are desirable to achieve more immersive, efficient, and interesting experiences and narratives in venues such as amusement parks. It should be noted that, as utilized in the present disclosure, the term “animated figure” may include a character, puppet, marionette, animated feature, automated figure, or the like along with supporting components (e.g., a controller, a physical support, a base structure, actuators, motors, aesthetics, theming material).

[0026] In accordance with the present disclosure, an animated figure may be utilized to provide an illusion that an otherwise fictional character, creature (e.g., alien robot), device, or the like is alive or active. For example, a controller (e.g., a performer, a control system) may cause movement of an animated figure based on activation (e.g., physical or electrical activation) of actuators. The controller may cause coordinated movement of specific features of the animated figure (e.g., a head, arms, legs, and / or mouth) to mimic or act out certain movement patterns and thus generate an illusion that the animated figure is essentially alive. The animated figure may be controlled via operation of actuators, motors, and / or other drives that cause movement of the animated figure based on instructions from the controller, which may be remote from, integrated with or in close proximity to the animated figure. In addition to creating desired movement patterns or profiles, present embodiments may also incorporate features that provide concealment of operational aspects from audience members. Indeed, certain aspects (e.g., motors, actuators, relational movement) related to control and coordinated312487-4 (UNIV:0629PCT)movement of the animated figure may be concealed (e.g., covered) so that the audience members do not clearly recognize how the movement of the animated figure is being coordinated and achieved in accordance with present embodiments. Further, present embodiments provide such movements or actuations in a manner that facilitates efficient operation, maintenance, and control of the animated figure.

[0027] Embodiments of the present disclosure include an animated figure system having mechanisms for movement that are hidden from view by elements of the performance display, such as abase structure, set dressings, and costume elements. For example, an animated figure may be decorated with costume elements and positioned on a platform (e.g., floor, surface) supported by a base structure adorned with set dressings. Some of the mechanisms may be partially housed within the base structure, out of view of guests. Other mechanisms that extend out of the base structure may be hidden by the costume elements.

[0028] The mechanisms may include various systems configured to move one or more appendages of the animated figure. Although these appendages are described herein primarily as feet, hands, limbs, legs, and arms, it should be understood that the term "appendage" may refer to any movable structure of the animated figure, including tentacles, wings, fins, tails, equipment, accessories. Moreover, the term '‘leg” as used herein refers to any member of the animated figure extending from a main body portion to the surface of the platform. As such, “leg” may be interchangeable with any other appendage. In an embodiment, the appendages may include two legs extending from a torso (e.g., including a pelvis) of the animated figure to the surface of the platform.

[0029] Mechanisms to animate the legs and the torso may include a boom (e.g., vertical boom) coupled to the torso. The boom may extend, retract, and / or rotate about any suitable axis to move (e.g., translate, rotate) the torso in a desired manner. In this way, the boom may animate the animated figure at a first node (e.g., the torso). Additionally, the animated figure may include a magnet control system to animate the legs of the animated figure via magnetic feet (i.e., additional nodes). Each leg may include one or more magnets or ferromagnetic elements at the foot. The feet may be magnetically attracted to magnets (e.g., electromagnets) of the magnet control system positioned underneath the surface of the platform. The magnetic control system (e.g., magnet actuation control system) may include mechanisms to move the magnets such312487-4 (UNIV:0629PCT)that the feet, being magnetically coupled to the magnets, follow the movement of the magnets, for example, by sliding along the platform. Positioning of the legs generally may correspond to the positioning of the torso and the feet. Indeed, the motion of the boom and the magnets may determine the angle of each leg with respect to the torso and the platform, as well as the angles of leg members about joints (e.g., knees, ankles, hips) with respect to each other. In some embodiments, the boom and the magnets may be positioned based on a prescribed position of the animated figure (e.g., according to a user input or an animation profile). Portions of the boom may be hidden behind costume elements or structural components of the animated figure. Additionally, the magnet control system may be housed beneath the platform, hidden from guests. With these mechanisms hidden, the performance display may be more immersive than traditional attractions. For example, the feet may appear to stand on an unencumbered surface, without the appearance of gaps or slots in the surface of the platform. It should be noted that the torso is just one example of a body portion, and the legs and feet are examples of appendages. In other embodiments, the body portion may be. for example, a horse body.

[0030] Turning now to the drawings, FIG. 1 illustrates an attraction system 10 having a ride system 12 and animated figure system 14 (e.g.. animated humanoid). The ride system 12 includes a ride vehicle 16 carrying guests 18. In some embodiments, the ride vehicle 1 may include a motion base (e.g., a platform or an active support with one or more degrees of freedom) that generates movement to create a thrilling or immersive experience for the guests 18. Additionally or alternatively, the ride vehicle 16 may travel along or about a ride path 20. During the ride experience, the guests 18 may view the animated figure system 14, which may be disposed along the ride path 20. In other embodiments, the attraction system 10 may not include the ride system 12. Instead, for example, the animated figure system 14 may be configured to operate in a general display area or to perform a theatrical show on a stage.

[0031] The animated figure system 14 includes an animated figure 22 positioned on a platform 24, which is supported by a base structure 26 (e.g., tower). The animated figure 22 is configured to move one or more body parts, including legs 28 and feet 30, to perform programmed actions, interact with the guests 18, or otherwise entertain the guests 18. The body parts may also include other appendages such as arms 32, as well312487-4 (UNIV:0629PCT)as a central body portion 34 (e.g., torso), a head 36, and a neck 38. Each leg 28 extends from a proximal end portion 40 of the leg 28 (e.g., the end coupled to the central body portion) to a distal end portion 42 (e.g., the end being magnetically positioned). Each of these body parts may be animated using various mechanisms of the animated figure system 14. These mechanisms include a boom system 50 configured to position and / or support the central body portion 34 using a boom. Additionally, the animated figure system 14 includes a magnet control system 52 having magnets magnetically coupled to the feet 30 from beneath the platform 24. The magnet control system 52 may move the magnets along a plane under and parallel to the surface of the platform 24, causing the feet 30 to slide along the platform 24 following the magnets. Furthermore, the animated figure system 14 may include an auxiliary animation system 54 having auxiliary actuators (e.g., motors) configured to move other parts of the body (e.g., arms 32, head 36). Although the animated figure 22 is depicted as having a generally humanoid (e.g., bipedal) form, it should be understood that the animated figure 22 may represent a person, a creature, a robot, a proprietary character, or any other figure. In an embodiment, the platform 24 may include a continuous surface without visible openings for facilitating movements of the animated figure 22 and / or the body parts of the animated figure 22. As a result, the magnet control system 52 and / or the auxiliary animation system 54 may cause the one or more body parts of the animated figure 22 to move without showing connections between the animated figure 22 and the platform 24. In these ways, the animated figure system 14 may provide a more immersive and realistic experience for guests compared to a version with breaks (e.g., slips, seams, or other gaps) for physically coupling one or more body parts of an animated figure to a physical actuator or boom system.

[0032] In addition to animating parts of the animated figure 22, the animated figure system 14 may move the platform 24 itself. For example, the animated figure system 14 may include a turntable system 56 configured to rotate a portion of the platform 24. Additionally, the animated figure system 14 may include an elevator system 58 configured to lift and lower the platform 24. Additionally, the platform 24 may be configured to move horizontally, for example, via wheels or along a track. To this end, the animated figure system 14 may include show action equipment configured to enable motion of the animated figure 22 in multiple degrees of freedom. Thus, the animated figure system 14 may include several dimensions of translational (e.g., linear) and312487-4 (UNIV:0629PCT)rotational motion. In an embodiment, the animated figure system 14 may also include an animated figure controller 60. As will be discussed in more detail with reference to FIG. 2, the animated figure controller 60 may communicatively couple to and control subsystems within the animated figure system 14. For example, the animated figure controller 60 may transmit signals (e.g., commands) to the boom system 50, the magnet control system 52, the auxiliary animation system 54, the turntable system 56, and / or the elevator system 58, to control the operations and movements of the animated figure 22, the platform 24, and any other show elements or features that may be included in the animated figure system 14.

[0033] With this in mind. FIG. 2 is a schematic of the electrical and electromechanical elements of the attraction system 10 as shown in Figure 1. The animated figure controller 60 may be configured to control one or more of the subsystems of the animated figure system 14. For example, the animated figure controller 60 may be communicatively coupled to the magnet control system 52, the boom system 50, the elevator system 58, the auxiliary animation system 54, and / or the turntable system 56. Each of these systems may include one or more actuators configured to move a part of the animated figure system 14. For example, the boom system 50 may include one or more boom actuators 80 configured to extend, retract, rotate, or otherwise position a boom coupled to the animated figure 22 (FIG. 1). The boom actuator(s) 80 may include motors, pistons, pneumatic actuators, linear actuators, hydraulic actuators, and the like. The magnet control system 52 may include magnet positioning actuators 82 configured to position leading magnets 84 beneath the feet 30 (FIG. 1) (e.g., under the platform 24 (FIG. 1)) of the animated figure 22 so that movement of the leading magnets 84 can lead the feet 30 through magnetic attraction. The magnet positioning actuators 82 may include motors and / or robotic implements configured to move the leading magnets 84 along a track or a positioning stage (e.g., X-Y stage, linear or curvilinear positioning stage). In some embodiments, the leading magnets 84 may produce an adjustable magnetic field, such as electromagnets. In such cases, the animated figure controller 60 may modulate the magnetic field of the leading magnets 84. In some embodiments, the magnet control system 52 may be considered part of (e.g., integral to) the animated figure controller 60, or the magnet control system 52 may include a controller of its own that is communicatively coupled to the animated figure controller 60 and / or the magnet positioning actuators 82. Additionally, the312487-4 (UNIV:0629PCT)elevator system 58. the auxiliary animation system 54, and the turntable system 56 may include elevator actuators 86, auxiliary actuators 88, and turntable actuators 90, respectively. Each of these actuators may send feedback to, and receive control signals from, the animated figure controller 60.

[0034] Additionally, the animated figure system 14 may include an audio-visual effects system 92 configured to produce audio and visual effects associated with the animated figure 22 (FIG. 1), such as lights, music, sound effects, video, and the like. Further, the animated figure system 14 includes a power supply 94 configured to supply power to the various mechanisms and / or the animated figure controller 60. Each of these subsystems may send feedback to, and receive control signals from, the animated figure controller 60.

[0035] As mentioned above, the ride system 12 may include the ride vehicle 16 configured to carry the guests 18 (FIG. 1). The ride system 12 may further include a ride controller 96 configured to control the ride vehicle 16 and other aspects of the ride system 12, such as audio-visual effects. The ride controller 96 may communicate with the animated figure controller 60 to coordinate operation of the ride system 12 and the animated figure system 14. For example, the ride controller 96 may send an instruction to the animated figure controller 60 to actuate a particular mechanism of the animated figure 22 (FIG. 1) based on an action, status (e.g., operating state), or position of the ride system 12. The attraction system 10 may include various sensors 98 (e.g., motion sensor, light sensor, accelerometer, gas sensor) configured to provide feedback to the animated figure controller 60 and / or the ride controller 96.

[0036] The attraction system 10 may further include a central controller 100 communicatively coupled to the ride controller 96, the animated figure controller 60, and any other components of the attraction system 10. The central controller 100 may coordinate operation of the animated figure controller 60 and the ride controller 96. In this way, the instructions for operating the ride system 12 and the animated figure system 14 are provided from a single source. The central controller 100 may receive operator inputs (e.g.. via a user interface), and / or the central controller 100 may store and execute instructions according to a script. In some embodiments, the central controller 100 may be a remote computing system (e.g., cloud server) configured to312487-4 (UNIV:0629PCT)communicate with the ride controller 96 and / or the animated figure controller 60 via a network.

[0037] Alternatively, the animated figure controller 60 and the ride controller 96 may be combined as a central controller 100 configured to control both the ride system 12 and the animated figure 22 (FIG. 1). For example, rather than the animated figure system 14 and the ride system 12 separately operating using the animated figure controller 60 and the ride controller 96, the central controller 100 may operate each of the subsystems of the animated figure system 14 (e.g., actuators) as well as the ride vehicle 16.

[0038] The animated figure controller 60, the ride controller 96, and the central controller 100 may each include respective processors 102, memory devices 104, and communication components 106. Each of the memory devices 104 may include a tangible, non-transitory, computer-readable medium that may store instructions that, when executed by a respective processor 102 may cause the processor 102 to perform various functions described herein. To this end, each processor 102 may be any suitable type of computer processor or microprocessor capable of executing computerexecutable code, including but not limited to one or more field programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), programmable logic devices (PLD), programmable logic arrays (PLA), and the like. It should be appreciated that the animated figure controller 60, the ride controller 96, and / or the central controller 100 may include or represent distributed controllers and / or control systems with multiple memory devices and / or multiple processors that operate together to carry out techniques described herein (e.g., one processor performs one operation, another processor performs another operation, and so forth). Thus, as used herein, the memory device 104 may include one or more memory devices and the processor 102 may include one or more processors.

[0039] Additionally, each of the animated figure controller 60, the ride controller 96, and the central controller 100 may communicate with each other and other devices via the respective communication component 106, such as receiving / sending data related to the operation of the animated figure 22 (FIG. 1). For example, the animated figure 22 may be a part of a story' or scene, and it may be controlled to operate in a predetermined motion profile (e.g., animation profile) with other attractions in the312487-4 (UNIV:0629PCT)amusement park. The communication component 106 may be a wireless or wired communication component that may facilitate communication between the animated figure controller 60 and various other controllers (e.g., animated figure controller 60, the ride controller 96) and devices via a network, the internet, or the like. For example, the communication component 106 may allow the animated figure controller 60 to obtain the data from a variety of data sources (e.g., databases, network, and the like). In some embodiments, the animated figure 22 may be remotely controlled through the network. The communication component 106 may use a variety of communication protocols, such as Open Database Connectivity' (ODBC), TCP / IP, Distributed Relational Database Architecture (DRDA) protocol, Database Change Protocol (DCP), HTTP, other suitable current or future protocols, or combinations thereof.

[0040] FIG. 3 illustrates an embodiment of a portion of the animated figure system 14. In particular, the animated figure system 14 includes a boom 130 configured to support and / or position a part of the animated figure 22. As shown, the boom 130 may extend generally vertically from the surface of the platform 24. The boom 130 includes a support member 132 (e.g., support frame, base portion) and an extension member 134 (e.g., extendable portion) coupled to the support member 132. The boom system 50 (FIG. 2) further includes an extension mechanism 136 (e.g. boom extender, telescoping actuator, extending actuator) configured to move (e.g., extend and retract) the extension member 134 linearly along the length of the boom 130. The animated figure 22 may be coupled to the extension member 134 such that the boom 130 is configured to move the animated figure 22 along the length of the boom 130 by extending and retracting the extension member 134. In some embodiments, the extension mechanism 136 may include a linear actuator, a rack and pinion system, a piston, or any other suitable mechanism (e.g., boom actuator 80 (FIG. 2)) for adjusting a vertical position of the animated figure 22.

[0041] In addition to the extension mechanism 136, the boom system 50 (FIG. 2) may include a pivot mechanism 138 (e.g., pivot subsystem) configured to move and / or tilt the animated figure 22 along a direction perpendicular to the extension of the extension member 134. For example, the support member 132 may be coupled to a pivot joint 140 mounted on or below the platform 24. In some embodiments, the pivot joint 140 may be part of a pivot linkage disposed below the platform 24. That is, the312487-4 (UNIV:0629PCT)support member 132 may be coupled to a driving member via the pivot joint 140. Additionally, the support member 132 may extend from the space below the platform 24 through an opening in the platform 24 to reach the animated figure 22. The pivot mechanism 138 may include a pivot actuator (e.g., motor, servo) configured to adjust a horizontal position and an angle of the boom 130 with respect to a horizontal plane or the platform 24. The platform 24 may be part of a turntable 142 configured to rotate the animated figure 22 and / or the boom system 50 about a vertical axis 144. Alternatively, the turntable 142 may be considered part of (e.g., integrated within) the platform 24.

[0042] Keeping the foregoing in mind, FIGS. 4. 5, and 6 illustrate different positions of the boom 130 corresponding to different positions of the animated figure 22. As shown, the extension member 134 may be coupled to a seating portion (e.g., gluteal region, tailbone, central body portion, appendage hub, pelvis) of the central body portion 34 of the animated figure 22 as shown in Figure 1, herein also referred to as a ■‘torso” 160 or '‘pelvis.” It should be understood however, that other embodiments of the animated figure 22, such as non-humanoid forms, may include a body portion that looks unlike a torso, but exhibits similar functions as the torso 160. In particular, the torso 160 functions to couple legs 28 (e.g., appendages) to the animated figure 22, as well as to support other bodily structures (e.g., arms, head) of the animated figure 22. The proximal portions 40 of the legs 28 may be joined to the torso 160 at joints 162 (e.g., hip joints). The joints 162 may be hinge joints, ball-and-socket joints, revolute joints, pivot joints, universal joints, Hooke’s joints, or any other suitable type of joint. The joints 162 may provide one or more degrees of freedom of each leg 28 with respect to the torso 160. Thus, when the torso 160 moves, the angle of each leg 28 with respect to the torso 160 may change.

[0043] Each leg 28 may include any number of leg members 166 (e.g., femur, tibia, foot) joined at one or more additional joints 162, such as knee joints, ankle joints, and any number of intermediate j oints between the proximal end portion 40 of the leg 28 and the distal end 42 portion (e.g., between the foot 30 and the torso 160). That is, the legs 28 may be articulated such that motion of the torso 160 tends to cause ‘“bending” of the legs 28 at the joints 162. For example, FIG. 4 depicts a portion of the animated figure 22 when the boom 130 is in a first position 168. In the first position 168, the312487-4 (UNIV:0629PCT)boom 130 may be substantially vertical, and the extension member 134 may be at a middle position between full extension and full retraction. The feet 30 are coupled to the distal portions 42 of the legs 28 and may be held in place or free to slide on the platform 24 (including a surface of the turntable 142). The overall position of the legs 28, including the angles of the joints 162, is determined in part by the position of the boom 130. For example, the legs 28 may be ‘“bent” to a certain degree when the boom 130 is in the first position 168.

[0044] FIG. 5 depicts the portion of the animated figure 22 when the boom is in a second position 170. wherein the extension member 134 of the boom 130 is further extended compared to the first position 168. As a result, the position of the legs 28. including the angles of the joints 162, changes accordingly. For example, the legs 28 may be “straightened” to a certain degree when the boom 130 is in the second position.

[0045] FIG. 6 depicts the portion of the animated figure 22 when the boom is in a third position 172, wherein the extension member 134 is rotated or pivoted at an angle with respect to the vertical axis 144. As a result, the torso 160 itself may be pivoted (e.g., tilted), and the legs 28 may be positioned in a particular way according to the new geometric constraint set by the third position 172 of the boom 130. For example, one of the legs 28 may be straight w hile another is more bent. As the animated figure 22 transitions between the first position 168, the second position 170, and the third position 172, the feet 30 may be held in place, free to move, or forced to move. Indeed, the position of the feet 30 also determines, in part, the overall position of the legs 28.

[0046] FIG. 7 depicts the magnet control system 52 operating in this case as a foot positioning system 180. The foot positioning system 180 is configured to magnetically couple each foot 30 to a corresponding magnet. The feet 30 themselves may be ferromagnetic and / or a set of foot magnets 182 may be integrated in the feet 30. A set of leading magnets 84 may be disposed below- the surface of the platform 24 such that the foot magnets 182 are attracted to the leading magnets 84 through the platform 24. The foot positioning system 180 includes a magnet positioning mechanism 184 (e.g., carriage system, rail system, gantry system) configured to move the leading magnets 84 to positions that yield a desired position of the legs 28, taking into account the position of the boom 130. In some embodiments, the magnet positioning mechanism 184 may comprise a system of linkages 186 driven to move by one or more actuators312487-4 (UNIV:0629PCT)188 (e.g., motors). Additionally, the leading magnets 84 may be disposed within magnet housings 190 (e.g., camages) coupled to the linkages 186. The leading magnets 84 may be configured to slide along predetermined paths, such as rails or tracks, as the actuators 188 drive the magnet positioning mechanism 184 to move the leading magnets 84 (e.g., via the linkages 186).

[0047] The animated figure 22 may include any number of joints 162 coupling the members 166 of the legs 28 and feet 30 to each other and to the torso 1 0. The angles of the joints 162 may depend on the positions of the boom 130 and the leading magnets 84, which control the positioning of the feet 30. Thus, by controlling the boom system 50 and the magnet control system 52, the overall position of the legs 28, including the angles of thejoints 162 and the orientations of certain members 166, may be controlled. For example, a height 192 and / or an angle 9i of the torso 160 may be controlled by the extension and rotation of the boom system 50. Lowering the torso 160 via the boom system 50 may cause the legs 28 to bend at certain joints. For example, upper leg members 194 (e.g., first appendage members) may couple to the torso 160 at hip joints 196 (e.g., first joints). The hip joints 196 may enable pivoting of the upper leg members 194 through a range of motion in one or more dimensions, including about respective axes perpendicular to the boom 130. As the height 192 and the angle 0i of the torso 160 changes, angles 02 and 03 of the hip joints 196 may change accordingly. The hip joints 196 may be free to move or biased (e.g., by an elastic or spring component) toward a particular angle. Generally, the upper leg members 194 may rotate about the hip joints 196 in at least one dimension in response to movement of the boom 130 and / or the feet 30. That is, no actuator is needed to move the hip joints 196 independently of the boom 130 and the feet 30. Nevertheless, the animated figure 22 may include additional actuators (e.g., auxiliary actuators) to rotate the hip joints 196 in additional directions.

[0048] Each upper leg member 194 may couple to a respective lower leg member 198 (e.g., second appendage member) at a respective knee joint 200 (e.g., second joint) to form angles 04 and 05 (e.g., knee angles). The knee joint 200 may be a hinge joint, a ball and socket joint, a pivot joint, or any other suitable coupling. Each lower leg member 198 may couple at its other end to its respective foot 30 at a respective ankle joint 202 (e.g., third joint) to form angles 06 and 07 (e.g., ankle angle). Each of the312487-4 (UNIV:0629PCT)angles 0i-7 may be affected or determined in part by each other angle, as well as by the positions of the boom 130 and the feet 30. For example, the knee joint 200 may tend to straighten (i.e., 04 increases) as the distance between the foot 30 and the hip joint 196 increases.

[0049] Geometrical constraints may yield an analytical or numerical method of determining the position (e.g., Cartesian position, orientation) of each part of the legs 28 based on the positions of the boom 130 and the feet 30. For example, a mathematical relationship may be used to define (e.g., using inverse kinematics) each joint angle 0i-7 as a function of the position of the boom 130, and the position of the feet 30. Conversely, an algorithm or a model may take the desired joint angles 0i-7 as an input and determine the necessary positions of the leading magnets 84 and / or the boom 130 to produce the desired angles 0i-7 (e.g., using forward kinematics). A controller, such as the animated figure controller 60 (FIG. 2) may implement such an algorithm or model to coordinate operation of the magnet positioning actuators 82 (FIG. 2) and the boom actuators 80 (FIG. 2) to produce the desired joint angles 0i-7. In this way, the animated figure system 14 may coordinate motion of the boom system 50 and the magnets 84 to bend the legs 28 and orient the central body portion 34 (FIG. 1) to a prescribed position, along a desired motion path, and / or according to a script.

[0050] According to traditional techniques, animated figures may employ actuators coupled to the legs or joints to ‘"actively” move the legs. Using the systems and methods described herein, however, the legs 28 may be “passively” positioned by extending and retracting the boom 50, which couples to the proximal end portions 40 of the legs 28. and by sliding the distal end portions 42 of the legs 28 using magnets beneath the platform 24. Thus, the animated figure system 14 may not include actuators, such as motors and pistons, coupled to the legs 28 and / or configured to directly rotate the joints 162. That is, the legs 28 and the joints 162 may move under no power of their own, and each joint 162 may rotate or pivot freely in response to motion of the magnets 84 and the boom 50.

[0051] It should be understood that descriptions herein of the hip joint 196, the knee joint 200, the ankle joint 202, the upper leg member 194, and the lower leg member 198 are non-limiting examples of a combination of appendage members and joints.312487-4 (UNIV:0629PCT)Other embodiments may include any number and type of joints and members coupled to form different appendages.

[0052] FIG. 8 illustrates an overhead view of an embodiment of the magnet control system 52 including the magnet positioning mechanism 184 for one of the feet 30 (FIGS. 1. 4-7). The magnet positioning mechanism 184 may include a first carriage 220 (e.g., sliding component, gantry) configured to slide along a first rail 222 (e.g., track, slide rail, linear rail). A motor 224 may be coupled to the first carriage 220 (e.g., via a belt). The motor 224 may force the first carriage 220 to travel (e.g., slide) along a length of the first rail 222. In some embodiments, the first carriage 220 may be coupled (e.g., attached) directly to one of the leading magnets 84. Thus, the motion of the first carriage 220, carrying the leading magnet 84, may induce motion of one of the feet 30 via magnetic attraction through the platform 24, as shown in Figure 7. In this way, the first carriage 220 may travel along a first path, corresponding to a path of one of the feet 30.

[0053] In the illustrated embodiment, the magnet positioning mechanism 184 may include a second carriage 226 configured to slide along a second rail 228. The second rail 228 may form a non-linear (e.g., curved, curvilinear) path in a plane substantially parallel to the surface of the platform 24. Furthermore, the second carriage 226 may be coupled to (e.g., carry, house) one of the leading magnets 84. A linkage 186 (e.g., arm, pivot member) may couple the first carriage 220 and the second carriage 226 , such that motion of the first carriage 220, driven by the motor 224, is transferred to motion of the second carriage 226 along the second rail 228. The linkage 186 may serve to convert linear motion of the first carriage 220 to curved motion of the second carriage 226. Then, the foot 30 (FIGS. 1, 4-7) magnetically coupled to the second carriage 226 may follow a curved path corresponding to the second rail. In some embodiments, the linkage 186 may be more complex, having multiple pivot points, members, degrees of freedom, and so on. Additionally, the linkage 186 may be configured to rotate the second carriage 226 to turn (e.g., twist) the foot 30.

[0054] The magnet positioning mechanism 184 shown in FIG. 8 is configured to move a single leading magnet 84 for one or more of the feet 30 (FIGS. 1, 4-7). In addition to the elements shown in FIG. 8, the magnet control system 52 may include an additional magnet positioning mechanism 184 for a second leading magnet 84312487-4 (UNIV:0629PCT)corresponding to a different foot 30. For example, the magnet control system 52 may include a second motor configured to move a third carriage along a third rail. The magnet control system 52 may further include a fourth carriage on a fourth rail coupled to the third carriage via a second linkage, and the second leading magnet may be coupled to the fourth carriage to induce motion of the second foot. In other words, the illustrated magnet positioning mechanism 184 may be essentially duplicated to produce motion for each of the feet 30. The motion of each foot 30 may be controlled independently of or in coordination with each other.

[0055] Alternatively, both the first carriage 220 and the second carriage 226 of the magnet positioning mechanism 184 may carry respective leading magnets 84 corresponding to each of the feet 30 (FIGS. 1, 4-7). For example, the first carriage 220 may carry a first leading magnet that is magnetically coupled to the first foot 30, and the second carriage 226 may carry a second leading magnet that is magnetically coupled to the second foot 30. In another embodiment, the magnet positioning mechanism may include a second motor configured to move the second carriage 226 along the second rail 228.

[0056] The magnet control system 52 may be partially or entirely underneath and / or coupled to the platform 24. The motion of the leading magnets 84 and the feet 30 is hitherto described in relation to the platform 24 as a frame of reference. However, the platform 24 itself may also rotate (e.g., via the turntable sy stem 56 (FIG. 2)). Thus, the components of the magnet control system 52 (e.g., the first rail 222 and the second rail 228) may be rotating relative to the ground while the first carnage 220 and the second carriage 226 move and / or rotate relative to the platform 24.

[0057] FIG. 9 illustrates the interaction between the foot 30 and the leading magnet 84. As discussed above, the foot 30 may include or be coupled to the foot magnet 182. Alternatively, the foot 30 itself may be magnetic or ferromagnetic. In any case, the foot 30 is magnetically attracted to the leading magnet 84 through the platform 24. As the leading magnet 84 moves beneath the platform 24, the foot 30 follows above the platform 24. The foot 30 and the leading magnet 84 may each slide against the platform 24, or there may be an air gap 240 between the magnets and the platform 24. Moreover, the feet 30 and / or the foot positioning system 180 may include one or more horizontal translation interfaces 242 (e.g., rollers, sliding pads, air bearings, low-312487-4 (UNIV:0629PCT)friction skids) that may contact and traverse the horizontal plane of the platform 24. The horizontal translation interfaces 242 may include low-friction translation interfaces that may couple to the foot 30 and / or the foot positioning system 180. For example, in an embodiment, the horizontal translation interfaces 242 may be coupled to a surface of the magnet housings 190 holding the leading magnet 84. The horizontal translation interfaces 242 may contact the top and / or bottom of the platform 24. Because the horizontal translation interfaces 242 may be low-friction translation interfaces, they may facilitate horizontal movements (e.g., rolling, sliding, shifting) of the foot 30 and / or the foot positioning system 180 along the platform 24 in a smooth manner (e.g., limiting friction and / or physical degradation that may be associated with direct physical contact between the foot 30 and / or the foot positioning system 180 and the platform 24). For example, in an embodiment, the foot 30 and / or the foot positioning system 180 may include rollers (e.g., wheels, omnidirectional rollers, spherical rollers) configured to make rolling contact with the top and bottom of the platform 24, respectively. In an embodiment, the horizontal translation interfaces 242 may be conical and / or mounted at an oblique angle to the foot 30, such that the foot 30 follows a curved path as the horizontal translation interface 242 traverses the horizontal plane of the platform 24. In any case, the horizontal translation interfaces 242 may reduce sliding friction while maintaining the magnetic interaction between the leading magnet 84 and the foot 30. The horizontal translation interfaces 242 may separate the magnets from the platform 24 enough to prevent sliding, while preserving close enough distance to maintain sufficient magnetic attraction. In some embodiments, the leading magnet 84 and / or the foot magnet 182 may include multiple magnets stacked together.

[0058] In some embodiments, the leading magnet 84 and / or the foot magnet 182 may be electromagnetic. That is, the magnet control system 52 may include a current source (e.g., power supply) configured to provide a current to the leading magnet 84 and / or the foot magnet 1 2. Then, the current may be toggled and / or modulated to adjust the magnetic attraction between the foot 30 and the leading magnet 84. The current may be controlled via the animated figure controller 60 (FIG. 2) to strengthen and w eaken the magnetic force as desired. For example, the magnetic field may be reduced or turned off to allow the foot 30 to lift up from the platform 24 or to slide freely, uncoupled from the magnet control system 52. In this way, the animated figure 22 may lift the feet 30 to produce an ambulatory effect. The magnet control system 52312487-4 (UNIV:0629PCT)may also adjust or toggle the current, which may affect the electromagnetic repulsion force between the leading magnet 84 and the foot magnet 182. For example, the magnet control system 52 may increase the current applied to the leading magnet 84 to increase an electromagnetic repulsion force between the leading magnet 84 and the foot magnet 182, which may cause the foot 30 to lift from the platform 24. Likewise, the magnet control system 52 may decrease the current applied to the leading magnet 84 to increase the electromagnetic attraction force (e.g., decrease the electromagnetic repulsion force) between the leading magnet 84 and the foot magnet 182, which may cause the foot 30 to extend towards the platform 24. Additionally or alternatively, in some cases, the magnet control system 52 may cause the foot to move 30 based on a direction of the current applied to the leading magnet 84 and / or the foot magnet 182. For example, the magnet control system 52 may increase the electromagnetic repulsion force between the leading magnet 84 and the foot magnet 182 (e.g., causing the foot 30 to lift from the platform 24) based on increasing an amount of current applied to the leading magnet 84 and / or the foot magnet 182 in a first direction. Conversely, the magnet control system 52 may increase the electromagnetic attraction force (e.g., decrease the electromagnetic repulsion force) between the leading magnet 84 and the foot magnet 182 (e.g., causing the foot 30 to extend towards the platform 24) based on increasing an amount of current applied to the leading magnet 84 and / or the foot magnet 182 in a second direction (e.g.. opposite the first direction). Accordingly, the magnet control system 52 may control the movement of the foot 30 based on a magnitude of current, a direction of current, or a combination of both. These techniques may be used to control the vertical positioning of the foot 30 relative to the platform 24 and / or dynamically move the foot 30 up and down (e.g., as it also moves horizontally across the platform 24) in an ambulatory motion. In at least these ways, the animated figure 22 may lift the feet 30 to produce an ambulatory effect, which may provide an immersive and / or more realistic walking motion from the perspective of a viewer or guest.

[0059] FIG. 10 illustrates a section view highlighting the turntable system 56 of the animated figure system 14. As discussed above, the platform 24 on which the animated figure 22 “stands” may be the surface of the turntable 142. The turntable system 56 may include a turntable motor 260 configured to drive rotation of the turntable. In some embodiments, the turntable 142 may be coupled to a slewing ring bearing 262 that allows rotation of the turntable 142 while avoiding entanglement of wires and312487-4 (UNIV:0629PCT)mechanisms. The slewing ring bearing 262 may include an outer ring 264 annularly disposed around an inner ring 266. The outer ring 264 may slide freely around the inner ring 266, or the inner ring 266 may slide freely within the outer ring 264 due to rollers 268 disposed between the inner ring 266 and the outer ring 264. Alternatively, the inner ring 266 and the outer ring 264 may contact at a low friction surface.

[0060] The inner ring 266 may be coupled to a stationary element of the animated figure system 14, such as the base structure 26. The outer ring 264 may be coupled to the turntable 142. The turntable motor 260 may drive rotation of the outer ring 264 (e.g., toothed portion) of the slewing ring bearing 262 while the inner ring 266 remains stationary. The turntable 142 may include a hole 270 through a central axis of the turntable 142, enabling feedthrough of components, such as wires, harnesses, and the boom 130 from below the platform 24 to the animated figure 22, without getting tangled due to the rotation of the outer ring 264. In this way, the platform 24 may spin while allowing wires to pass through the hole 270.

[0061] The animated figure system may further include the auxiliary' animation system 54 configured to animate other parts of the animated figure 22 whose movements are not necessarily affected by the positioning of the boom 130 and the leading magnets 84 (FIGS. 2, 7-9). These parts may include appendages such as the arms 32, the head 36, and a waist 272 of the animated figure 22. The auxiliary animation system 54 may include any number of auxiliary actuators 88, such as motors, pistons, pneumatic actuators, hydraulic actuators, linear actuators, valves, and the like. For example, the auxiliary actuators 88 may include motors for controlling positions of shoulder joints 274 coupling upper arm members 276 to an upper body portion 278 of the animated figure 22. Additionally, the auxiliary' actuators 88 may include motors for controlling elbow joints 162 coupling the upper arm members 276 to lower arm members 277. Further, the auxiliary actuators 88 may include motors for turning and / or bending the waist 272 to rotate the upper body portion 278 relative to the platform 24.

[0062] The animated figure system 14 may include decorative elements, such as costume elements and / or set dressings to provide an aesthetic, thematic, and / or immersive effect. For example, the animated figure 22 may be dressed in a garment 280, such as a cloak or a cape. The garment 280 may also function to hide the boom 130 from view of the guests 18 (FIG. 1). For example, the boom 130 may extend up312487-4 (UNIV:0629PCT)from the platform 24 behind and / or underneath the animated figure 22, and the garment 280 may be draped around or in front of the boom 130. Additionally, the animated figure system 14 may include set dressings (e.g., props) to conceal the turntable 142.

[0063] FIG. 11 illustrates the animated figure sy stem 14 having an elevator system 58 configured to lift and / or lower the platform 24. The platform 24 may be part of an elevated section 290 of the animated figure system 14, coupled to the support base 26. The elevated section 290 may be configured to slide (e.g., on rails), roll, or otherwise travel along a height of the support base 26. The elevator system 58 includes at least one elevator actuator 86 (FIG. 2), such as a motor (e.g., winch) or a hydraulic lift. For example, the platform 24 may be elevated and / or lowered via a hydraulic scissor lift mechanism. Additionally or alternatively, the elevator system 58 may include a motor and a pulley system configured to pull the elevated section 290 up and down. The decorative elements (e.g., set dressings) may conceal the mechanisms underlying the elevator system 58.

[0064] FIG. 12 illustrates the animated figure system 14 having a platform translation system 292 configured to move the platform 24 along a plane (e.g., a horizontal plane). The platform translation system 292 may include show action equipment, such as a track-mounted carriage configured to drive the platform 24 back and forth along a path. The animated figure controller 60 (FIG. 2) and / or the central controller 100 (FIG. 2) may control the platform translation system 292 in coordination with any of the other systems, including the boom system 50 (FIG. 2) and the magnet control system 52 (FIG. 2).

[0065] FIG. 13 illustrates a method 300 for controlling the animated figure system 14. The method 300 may be performed by the animated figure controller 60, the central controller 100, or a combination of both. At block 302. the animated figure controller 60 may determine prescribed leg positions. The prescribed leg positions may be provided by predetermined instructions (e.g., a motion profile) to move the animated figure 22 in a particular way. Additionally, the animated figure controller 60 may receive user inputs (e.g., via a user interface) indicative of the prescribed leg positions. In other embodiments, the animated figure controller 60 may perform autonomous or semi-autonomous operations to determine the prescribed leg positions based on sensor feedback. For example, sensors (e.g., cameras) may provide data indicative of the312487-4 (UNIV:0629PCT)presence or behavior of a guest, a ride vehicle, an obstacle, or another animated figure, and the animated figure controller 60 may determine the prescribed leg positions based on the sensor data. The prescribed leg positions may include Cartesian (e.g., XYZ) or polar coordinates of the feet 30, each leg member 166, each joint 1 2, and / or the torso 160. The coordinates may be one, two, or three-dimensional. Additionally, the prescribed leg positions may include angles (e.g., 0i-?) of the feet 30, each leg member 166, each joint 162, and / or the torso 160 relative to each other, the platform 24, and / or the ground.

[0066] In some embodiments, the animated figure controller 60 may reference a model of the animated figure 22 to determine the prescribed positions. For example, the animated figure 22 may receive an abstract instruction (e g., “deep squat”) as an input and utilize the model to convert the abstract instruction to the prescribed leg positions (e.g., coordinates and angles of the joints 162 and leg members 166). In some embodiments, the prescribed actions and control signals may be expressed in terms of motion rather than or in addition to position. For example, the animated figure controller 60 may receive an instruction to move legs at a particular speed and / or acceleration to a particular position.

[0067] At block 304, the animated figure controller 60 may determine (e.g., derive) a boom position (e.g., target boom position, derived boom position) and one or more magnet positions (e.g., target magnet positions, derived magnet positions) based on the prescribed leg positions. As discussed above, the orientation and position of the joints 162 and the leg members 166 may depend on the positions of the boom 130 and the leading magnets 84. Indeed, the boom 130 controls the position of the torso relative to the platform 24, and the leading magnets control the placements of the feet 30 relative to the platform 24. In turn, the positions of the torso 160 and the feet 30 at least partially determine the angles of the joints 162. The relationship between the positions of the boom 130, the leading magnets 84, and the joints 162 may be derived using forward kinematics techniques. That is, given desired positions (e.g., prescribed leg positions) for the joints 162, the animated figure controller 60 may calculate (e.g., via an algorithm or a model) corresponding positions of the boom 130 and / or the leading magnets 84 to produce the desired joint positions (e.g., 0i-?). For example, the animated figure controller 60 may store a physics or geometry-based model to simulate the joint angles312487-4 (UNIV:0629PCT)0i-7 and the orientations of the members 166. Based on the model, the animated figure controller 60 may determine where to position the boom 130 and / or the leading magnets 84.

[0068] At block 306, the animated figure controller 60 may output a first control signal to the boom system 50 based on the boom position determined at block 304. The first control signal may cause a first boom actuator to extend or retract the extension member 134 of the boom 130 to adjust a height of the torso 160. Additionally, the first control signal may cause a second boom actuator to pivot the boom 130 and adjust the angle of the torso 160. The first control signal may include one or more motor commands, including a motor speed and / or a target position. The animated figure controller 60 may receive feedback (e.g., via sensors) indicative of the speed and / or position of the boom 130 and / or the boom actuators to control the motion and positioning of the boom 130.

[0069] At block 308, the animated figure controller 60 may output a second control signal to the magnet control system 52 based on the magnet positions determined at block 304. The second control signal may cause one or more of the magnet positioning actuators 82 to adjust to a target position or to operate at a particular speed for a period of time. In this way, the magnet control system 52 may move the leading magnets 84 to the determined magnet positions. The second control signal may include one or more motor commands, including a motor speed and / or a target position. The animated figure controller 60 may receive feedback (e.g., via sensors) indicative of the speed and / or position of the magnet positioning mechanism 184 to control the motion and positioning of the leading magnets 84.

[0070] In some embodiments, the leading magnets 84 or the foot magnets 182 may be electromagnets with adjustable magnetic fields. The magnet control system 52 may include a current source (e.g., variable current source) configured to provide a current to the electromagnets. At block 310, the animated figure controller 60 may output a third control signal to the magnet control system 52 to adjust a current to the electromagnets based on a desired magnet status. The third control signal may be generated in response to a determination that a prescribed position or movement requires one of the feet 30 to lift up from the platform 24. Then, the animated figure controller 60 may output the third control signal to disable one of the electromagnets,312487-4 (UNIV:0629PCT)for example, by reducing or shutting off the current from the current source. For example, the third control signal may cause the magnet control system 52 to provide a current to the leading magnets 84 and / or the foot magnets 182 that may create and / or increase an electromagnetic repulsion force (e.g., by changing a magnitude or direction of the current applied to the leading magnets 84 and / or the foot magnets 182) causing the foot 30 to lift up or move away from the leading magnet 84. In another example, the animated figure controller 60 may determine that a prescribed action calls for the leading magnet 84 to move at a speed that would uncouple the foot 30 from the leading magnet 84. Then, the third control signal may cause the current in the electromagnet to increase, generating a stronger electromagnetic attraction force and keeping the foot 30 coupled to the leading magnet 84 during the high speed movement. For example, the third control signal may cause the magnet control system 52 to provide a current to the leading magnets 84 and / or the foot magnets 182 that may create and / or increase an electromagnetic attraction force (e.g., by changing a magnitude or direction of the current applied to the leading magnets 84 and / or the foot magnets 182) causing the foot 30 to extend down or move closer to the leading magnet 84. In at least these ways, the animated figure controller 60 may cause the magnet control system 52 to change a direction or magnitude of current applied to the leading magnets 84 and / or foot magnets 182, which may cause the foot 30 to appear to move in an ambulatory or walking motion.

[0071] While only certain features of the invention have been illustrated 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.

[0072] The techniques presented and claimed herein are referenced and applied to material objects and concrete examples of a practical nature that demonstrably improve the present technical field and, as such, are not abstract, intangible or purely theoretical. Further, if any claims appended to the end of this specification contain one or more elements designated as “means for [perform]ing [a function]... '’ or “step for [perform]ing [a function]... '’, it is intended that such elements are to be interpreted under 35 U.S.C. 112(1). However, for any claims containing elements designated in312487-4 (UNIV:0629PCT)any other manner, it is intended that such elements are not to be interpreted under 35 U.S.C. 112(f).

Claims

312487-4 (UNIV:0629PCT)CLAIMS1. An animated figure system, comprising:an animated figure disposed on a platform, wherein the animated figure comprises a central body portion and one or more appendages, wherein each appendage of the one or more appendages comprises a proximal end portion opposite a distal end portion, and each appendage is pivotally coupled to the central body portion at the proximal end portion;a boom system comprising a boom coupled to the central body portion, wherein the boom system is configured to adjust a vertical position of the central body portion;one or more actuators configured to position one or more magnets below the platform, wherein the one or more magnets are configured to magnetically engage at least one of the distal end portions of the one or more appendages; anda controller communicatively coupled to the boom system and the one or more actuators, wherein the controller is configured to coordinate motion of the boom and the one or more magnets.

2. The animated figure system of claim 1, wherein the boom system is configured to adjust an angular position of the central body portion.

3. The animated figure system of claim 1, wherein each appendage of the one or more appendages is configured to bend at one or more joints, and the controller is configured to coordinate the motion of the boom and the one or more magnets to control one or more respective angles of the one or more joints.

4. The animated figure system of claim 1, wherein the one or more actuators are configured to move one or more carriages along one or more predetermined paths, wherein the one or more magnets are coupled to the one or more camages.

5. The animated figure system of claim 1, comprising at least a platform translation system configured to move the platform along a horizontal plane or an elevator system configured to lift and lower the platform.312487-4 (UNIV:0629PCT)6. The animated figure system of claim 1 , wherein the one or more magnets are electromagnetic, and the controller is configured to modulate a magnetic field of the one or more magnets.

7. The animated figure system of claim 6, wherein the controller is configured to modulate the magnetic field of the one or more magnets based on applying a current to the one or more magnets to control engagement between the one or more magnets and the at least one of the distal end portions, and wherein:increasing current in a first direction increases an electromagnetic repulsion force between the one or more magnets and the at least one of the distal end portions to cause the at least one of the distal end portions to lift from the platform as part of an ambulatory motion; andincreasing current in a second direction that is opposite the first direction, increases an electromagnetic attraction force between the one or more magnets and the at least one of the distal end portions to cause the at least one of the distal end portions to extend towards the platform.

8. The animated figure system of claim 1, wherein the platform comprises a turntable configured to rotate the animated figure.

9. The animated figure system of claim 1, wherein the controller is configured to:determine a prescribed appendage position for the animated figure; determine a target boom position and a target magnet position based on the prescribed appendage position;transmit a first control signal to the boom system based on the target boom position; andtransmit a second control signal to the one or more actuators based on the target magnet position.

10. The animated figure system of claim 1, wherein each distal end portion of the one or more appendages comprises one or more horizontal translation interfaces configured to contact the platform and move along a horizontal face of the platform.312487-4 (UNIV:0629PCT)11. The animated figure system of claim 1, wherein the controller is configured to communicate with an additional controller of an attraction system to coordinate operation of the animated figure system with operation of the attraction system.

12. An animated figure system, comprising:an animated figure disposed on a platform, wherein the animated figure comprises a central body portion and a first appendage, wherein the first appendage comprises:a proximal end portion pivotally coupled to the central body portion; a distal end portion configured to rest on the platform; and at least one joint between the proximal end portion and the distal end portion;a boom system comprising a boom coupled to the central body portion, wherein the boom system is configured to adjust a vertical position of the central body portion relative to the platform;at least one magnet disposed under the platform, wherein the at least one magnet is configured to magnetically engage to the distal end portion of the first appendage; anda magnet positioning mechanism comprising one or more actuators configured to move the at least one magnet in a plane parallel to the platform.

13. The animated figure system of claim 12, wherein the animated figure comprises a second appendage coupled to the central body portion.

14. The animated figure system of claim 12, comprising a controller configured to generate a first control signal to control the boom system and a second control signal to control the one or more actuators.

15. The animated figure system of claim 14, wherein the at least one magnet is electromagnetic, and the controller is configured to modulate a current supplied to the at least one magnet.312487-4 (UNIV:0629PCT)16. The animated figure system of claim 12, wherein the boom system is configured to adjust an angular position of the central body portion.

17. The animated figure system of claim 12, comprising one or more predetermined paths disposed beneath the platform, wherein the one or more actuators are configured to move the at least one magnet along the one or more predetermined paths.

18. The animated figure system of claim 12, wherein the magnet positioning mechanism is configured to cause the distal end portion of the first appendage to horizontally shift along the platform corresponding to movement of the at least one magnet.

19. A method of controlling an animated figure system, the method comprising:receiving, by a controller, a prescribed appendage position of at least one appendage of an animated figure, wherein the prescribed appendage position comprises a foot placement of the at least one appendage, a joint angle of the at least one appendage, or both;deriving, by the controller, a target boom position based on the prescribed appendage position;deriving, by the controller, a target magnet position of at least one magnet based on the prescribed appendage position;transmitting, by the controller, a first control signal to a boom system of the animated figure system based on the target boom position; andtransmitting, by the controller, a second control signal to a magnet control system of the animated figure system based on the target magnet position.

20. The method of claim 19, comprising modulating, by the controller, a magnetic field of at least one magnet.

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