JP2011511713A - Method and apparatus for designing animatronic units from articulated computer-generated characters - Google Patents

Abstract

A method for identifying a design for an animatronic unit includes receiving motion data including an artistically determined motion and determining a design for a configuration of at least a portion of the animatronic unit in response to the motion data. And outputting a design for the configuration of the animatronic unit. In one embodiment, a method for determining the behavior of an animatronic unit includes driving a software simulation of at least a portion of the animatronic unit using the plurality of control signals, thereby responding to the plurality of control signals. Including estimating the behavior of at least a portion.

Description

(Background of the Invention)
The present invention relates to animation. More specifically, the present invention relates to a method and apparatus for designing an animatronic unit based on an articulated computer generated character.

  Over the years, filmmakers have often tried to tell stories that include fictional creatures, distant places, and fantasy things. To do so, they have often relied on animation techniques that give "life" to fictional things. Two major paths in animation have traditionally included drawing-based animation techniques and stop-motion animation techniques.

  Drawing-based animation techniques were refined by filmmakers such as Walt Disney in the 20th century and used in movies such as “Snow White and the Seven Dwarfs” (1937) and “Fantasia” (1940). This animation technique typically required painters to hand-draw (or paint) an animated image on a transparent medium or cell. Then, after painting with paint, each cell was collected or recorded on the film as one or more frames in the movie.

  Stop-motion-based animation techniques typically required a mix of miniature sets, props and characters. Filmmakers made up sets, added props, and positioned miniature characters to pose. After the animator was satisfied with how everything was arranged, one or more frames of the film were taken with that particular arrangement. Stop-motion animation technology was developed by filmmakers such as Willis O'Brien for movies such as “King Kong” (1933). Subsequently, these techniques were refined by animators such as Ray Harryhausen of the movie, including “Mighty Joe Young” (1948) and Clash Of The Titans (1981).

  With the widespread availability of computers in the late 20th century, animators began to rely on computers to assist in the animation process. This included using a computer to facilitate drawing-based animation, such as by drawing an image with paint, generating an image in between ("tweening"), and the like. This also included using computers to augment stop-motion animation techniques. For example, a physical model can be represented and manipulated by a virtual model in computer memory.

  One of the pioneers in the computer generated imagery (CGI) industry was Pixar. Pixar is described in “Toy Story” (1995) and “Toy Story 2” (1999), “A Bugs Life” (1998), “Monsters, Inc.” (2001), “Finding Nemo” (2003), “The Incredibles”. ”(2004),“ Cars ”(2006), and“ Ratatourle ”(2007), more widely known as Pixar Animation Studios, the creators of major animated works. In addition to producing animated main works, Pixar has developed a computing platform specifically designed for CGI and now CGI software known as RenderMan®. The RenderMan® software included a “rendering engine” that “renders” or transforms a geometric and / or mathematical description of an animated object or animated character into a two-dimensional image. RenderMan (R) was very well accepted in the animation industry and won two Academy Awards (R).

  The inventors of the present invention currently desire to extend the range of animated characters beyond 3D images to 3D (eg, the physical world). In order to do this, we have developed a method for constructing and controlling physical versions of animated characters that appear in various major works (eg, electrical control devices, mechanical control devices, air Mechanical control devices and / or hydraulic control devices) have been devised.

  The use of physical and mechanical devices for live entertainment purposes has been pioneered by The Walt Disney Company and is now often referred to in the industry as “Animatronics”. Animatronic characters or animatronics unit, the Pirates of the Caribbean, Enchanted Tiki Room, Great Moments with Mr. It has long been used in well-known theme park attractions such as Lincoln and many other attractions (eg, performance, vehicles).

  The problem recognized by the inventors is that because animatronic units are used for specific purposes, the hardware cannot be purchased off-the-shelf and often has to be built by order. A major challenge recognized by the inventors is how to identify and build an animatronic unit that can move in a manner that is perceived by the audience. More specifically, the question is how to build and control animatronic characters that can faithfully represent the animation of characters in major works, movies, short stories, etc. now possible.

  It is believed that animation data from computer generated (CG) characters has not been used to help identify the composition of animatronic characters. Furthermore, it is believed that animation data from CG characters has not been used to control such animatronic characters.

  In view of the above, what is desired is a method and apparatus that solves the above problems.

(Summary of the invention)
The present invention relates to animatronics. More specifically, the present invention relates to, for example, a movement specified using motion capture technology based on a movement specified by animation data of a computer-generated character, a movement of facial features specified by animation data, The present invention relates to a method and apparatus for designing an animatronic character or animatronic unit based on motion capture and the like.

  In accordance with one aspect of the present invention, a method for identifying a design for an animatronic unit is disclosed. One technique includes receiving motion data including artistically determined motion and determining a design for the configuration of at least a portion of the animatronic unit in response to the motion data. The process may include outputting a design for the configuration of the animatronic unit.

  In accordance with another aspect of the present invention, an animatronic unit formed in accordance with various methods described herein is disclosed.

  In accordance with another aspect of the present invention, a computer system is described. The apparatus includes a memory configured to store motion data including artistically determined motion. The device may include a processor coupled to the memory, the processor configured to determine a design for the configuration of at least a portion of the animatronic unit in response to the motion data, the processor relative to the configuration of the animatronic unit. Configured to output the design.

  In accordance with another aspect of the invention, a computer program product on a tangible medium includes executable code executable on the computer system, the computer system including a processor and memory. The computer program product comprises code configured to instruct the processor to retrieve motion data, including artistically determined motion from memory, and configuration of at least a portion of the animatronic unit in response to the motion data And code configured to instruct the processor to determine a design for. The computer program product may also include code configured to instruct the processor to output a design for the configuration of the animatronic unit. Codes include optical media (DVD, HD DVD, BIu Ray DVD, holographic media, etc.), magnetic media (hard disk drive, floppy disk drive, etc.), semiconductor media (flash memory, RAM, ROM, etc.), etc. It can be on a tangible computer readable medium.

  In accordance with a further aspect of the present invention, a method for identifying a design for an animatronic unit is described. Various operations include receiving a design for a configuration of at least a portion of the animatronic unit and configuring at least a portion of the animatronic unit in response to the design for the configuration of at least a portion of the animatronic unit. In various embodiments, the design for the configuration of at least a portion of the animatronic unit is determined in response to motion data including artistically determined motion.

  In various embodiments, motion data may be obtained from animation data specified by an animator, eg, for facial animation, character animation, object animation, and the like. In addition, motion data may be obtained from physical performance data, for example, face performance data by an actor with multiple markers on the face, body performance data by an actor with multiple markers on the body, and the like. In various embodiments, motion data may be specified as one or more poses of animated objects, actors, etc. over time.

  Unlike conventional industrial robots, the movement of the animatronics unit is based on artistically determined performance data (eg animation data, actor physical movement). In contrast, the motion of an industrial robot is “industrial” and is not intended or determined for artistic performance. In various embodiments, animators are artists who have studied in the field of human movement and human facial expressions. These animators then apply artistic skills and judgments to pose CG characters (animation data) at various points in time, and the CG characters convey a feeling or expression as a “key frame”. It is known as Using a computer, the CG character's pose can be interleaved for multiple points in time between these “key frames”. As a result, the CG character's pose for various points in time is determined, as seen in animated main works, etc., resulting in an “animation” of the CG character. In various embodiments of the present invention, an animatronic unit can be designed and controlled based on such artistically driven animation data. In additional embodiments, the input data may be derived from an actor's physical performance when performing or gesturing. These physical performances are motion captured and can be used in a manner similar to the animation data described above that defines “keyframes” and the like.

  In view of the above, it should be understood that the term “animation data” referring to an animated object or animated character is merely an example of “movement data”. Thus, where appropriate, references in the specification to “animation data” for animated objects or animated characters may alternatively be used for other types of “motion data”, eg physical, such as actors. It may refer to performance data (eg, motion capture data).

For a more complete understanding of the present invention, reference is made to the accompanying drawings. With the understanding that these drawings are not to be considered as limitations on the scope of the invention, the embodiments described herein and the best mode of the invention understood herein will be further described through the use of the accompanying drawings. It will be described with details.
FIG. 1 is a block diagram of an exemplary computer system in accordance with various embodiments of the invention. 2A-B illustrate a block diagram of a process according to various embodiments of the present invention. 2A-B illustrate a block diagram of a process according to various embodiments of the present invention. FIG. 3 illustrates a block diagram of an additional process according to various embodiments of the present invention. 4A-B illustrate examples in accordance with various embodiments of the present invention. 4A-B illustrate examples in accordance with various embodiments of the present invention. 5A-C illustrate examples of physical control structures according to various embodiments of the present invention. 5A-C illustrate examples of physical control structures according to various embodiments of the present invention. 5A-C illustrate examples of physical control structures according to various embodiments of the present invention. FIG. 6 illustrates a high level exemplary block diagram of an additional embodiment.

(Detailed description of the invention)
FIG. 1 is a block diagram of an exemplary computer system 100 in accordance with an embodiment of the present invention.

  In this embodiment, the computer system 100 typically includes a display / monitor 110, a computer 120, a keyboard 130, a user input device 140, a computer interface 150, and the like.

  In this embodiment, the user input device 140 is typically embodied as a computer mouse, trackball, trackpad, joystick, wireless remote, drawing tablet, voice command system, eye tracking system, or the like. User input device 140 typically allows the user to select objects, icons, text, etc. that appear on monitor 110 via commands such as button clicks. In some embodiments, the monitor 110 may be an interactive touch screen such as Cintiq manufactured by Wacom. Graphics card 185 typically drives display 110.

  Embodiments of the computer interface 150 typically include an Ethernet card, modem (telephone, satellite, cable, ISDN), (asynchronous) digital subscriber line (DSL) unit, FireWire interface, USB interface, etc. Including. For example, the computer interface 150 may be coupled to a computer network, FireWire bus, etc. In other embodiments, the computer interface 150 may be physically integrated on the motherboard of the computer 120 and may be a software program such as, for example, soft DSL.

  In various embodiments, the computer 120 typically includes a well-known computer component (eg, processor 160), a memory storage device (eg, random access memory (RAM) 170), a disk drive 180, And a system bus 190 interconnecting the plurality of components.

  In one embodiment, the computer 120 includes one or more Intel Xeon microprocessors. Further, in this embodiment, the computer 120 typically includes a UNIX (registered trademark) -based operating system.

  The RAM 170 and the disk drive 180 are, for example, animation data, animation timing sheet, animation environment, animatronic unit design configuration, mathematical algorithm implementation, animatronic unit simulation, image file, software model, object geometry A software model, a scene description descriptor file, a rendering engine, an embodiment of the present invention, including executable description, computer code, human FIG. 4 is an example of a tangible medium configured to store data, such as an embodiment of the present invention, including readable code. Other types of tangible computer readable media include magnetic storage media such as floppy disks, networked hard disks, or removable hard disks, CD-ROMs, DVDs, holographic memories and This includes optical storage media such as barcodes, semiconductor memory such as flash memory and read-only memory (ROM), volatile memory backed up by batteries, networked storage devices, and the like.

  In the present embodiment, the computer system 100 may also include software that enables communication over a network, such as HTTP protocol, TCP / IP protocol, RTP / RTSP protocol, and the like. In alternative embodiments of the present invention, other communication software and transmission protocols such as IPX, UDP, etc. may also be used.

FIG. 1 depicts a computer system that can implement various aspects of the present invention. It will be readily apparent to those skilled in the art that many other hardware and software configurations are suitable for use with the present invention. For example, the computer can be in a desktop configuration, a portable configuration, a rack mount configuration, or a tablet configuration. In addition, the computer can be a series of networked computers. In addition, the use of other microprocessors such as, for example, Xeon ^™ , Pentium ^™ or Core ^™ microprocessors, Advanced ^™ Microdevices, Inc. Turion ^™ 64 microprocessors, Opteron ^™ microprocessors or Athlon ^™ microprocessors. Is expected. In addition, for example, Microsoft Corporation's Windows (registered trademark), Windows (registered trademark) XP (registered trademark), Windows (registered trademark) NT (registered trademark), Sun Microsystems Solaris, LINUX, UNIX (registered trademark), etc. Other types of operating systems are anticipated. In still other embodiments, the techniques described above can be implemented on a chip or on an auxiliary processing board.

  2A-B illustrate a block diagram of a process according to various embodiments of the present invention. More specifically, FIGS. 2A-B provide a high-level illustration of various embodiments that determine how to construct a physical model of an object.

  Initially, artistically determined movement related data (sometimes related to the object's software model) is provided to the computer system 100 (step 200). In some embodiments of the present invention, the animation data may be the same as the animation data used to animate the software model of the object for movies, major works, short stories, etc. In various embodiments, the animation data is a specific range of motion desired for the physical model of the object (eg, “training set”, “motion on the model” (ie, characteristic motion of the object), etc.). Can be represented. As an example, in a movie, an animated character may wink both eyes, but the physical model of the animated character may be desired to wink only the left eye. Thus, the animation data provided in this step (eg, “training set”, “movement on the model”, etc.) may include only animated characters that wink only the left eye.

  In various embodiments of the present invention, animation data is typically specified for a certain amount of time. For example, animation data may be associated with a particular scene, a particular series of scenes, a particular time interval, etc. in a main work (eg, a movie, a short story, etc.). In various embodiments, the amount of time can be freely determined by other users. In other embodiments, the amount of time can be specified by other users. Once the period is specified, the range of animation data can be easily determined.

  In various embodiments, the animation data is 1 second per about 24 frames of rate (typical cinema frame rate), about 25 frames or about 30 frames of rate per second (typical television frame rate) It can be specified at a rate of about 60 frames per second (HD frame rate) or the like. In such an embodiment, the value of animation data may be specified at such a data rate.

  In various embodiments, the animation data can take many different forms. In some embodiments, the animation data includes three-dimensional coordinates of the position of the object being animated. As an example, the animated object to be animated can be a face. In such an example, the animation data may represent three-dimensional coordinates (eg, (x, y, z) coordinates) of the position of the surface on the face in a static coordinate system with respect to time. In other embodiments, the three-dimensional coordinates may be an offset to the face “pause” or default pose with respect to time. For example, for a point on the tip of the nose, the (x, y, z) value may be (−0.1, 0.2, −0.1), which is −0. 1 (e.g. left), 0.2 in the y direction (e.g. upward), (direction to become e.g. flat) -0.1 in the z direction, represents the tip of the nose that moves from a reference pose. In various embodiments, the position may be a position on the surface of the animated object may be a position inside of the animated object may be a combination of such locations.

Mathematically, the animation data may be expressed as follows in some embodiments:
{ _Xit , _Yit , _Zit }: i = 1. . . m, t = 1. . . T
In various embodiments, “m” represents the number of surface positions provided in the animation data, and “T” represents the number of frames of animation data. For example, m may be approximately 100 to 1000 data points, 1000 to 3000 data points or more. In addition, T can be on the order of tens to thousands of frames, such as 25-100 frames, 100-1000 frames, 1000-4000 frames or more.

  In various embodiments, animation data may be received in a more abstract form, such as a cue sheet, an animation timing sheet, etc. In various embodiments, the animation timing sheet includes data values for the animation variables (avar) for each frame included in the time period. In other embodiments, the animation data may include spline data associated with avar, keyframe values specified for avar, and the like. In various embodiments of the present invention, in some cases where the animation data is in a more abstract form, the absolute or relative position value for the point of the object being animated is It is expected to be decided.

  As mentioned above, in some embodiments of the present invention, animation data may be associated with a complete animated character or object, or a portion of an animated character or object, such as a character's face.

  In another embodiment of step 200, the artistically determined motion data is determined in response to physical performance data. More specifically, physical performance data can be derived from a motion capture system. For example, an actor or other object may be associated with many visible markers that move in space in response to an actor's gestures or other movements. In various embodiments, the positions of these markers are collected and used to form motion data. The physical performance data may be a part of the actor, such as the entire body of the actor or a face.

  In various embodiments of the present invention, a decomposition analysis is performed (step 210) to determine a plurality of global modes and a plurality of global mode weight values for the animation data in response to the animation data. . In various embodiments, the single value decomposition process is performed by principal component analysis (PCA) techniques, although in other embodiments other analysis techniques may also be used. In some embodiments, the dominant mode may be named “eigenvector” and the weighted value of the mode may be named “eigenvalue”. As is known when using such techniques, the determined global mode is principal for the data set. In various embodiments animation data includes three-dimensional position data of a plurality of points on the surface, global primary modes include a global mode of movement of the plurality of points on the surface of the animated object. An example of this is illustrated below.

  Mathematically, the decomposition (in one dimension) can be expressed as follows in some embodiments:

さまざまな実施形態において、「Ｎ」は主モードの数を表し、ｂ_ｉ，ｊはグローバルモードを表し、ａ_ｔ，ｊは重みづけ因子を表す。

In various embodiments, “N” represents the number of major modes, b _{i, j} represents a global mode, and at _{, j} represents a weighting factor.

  Next, in various embodiments, in response to the global mode and (global mode) weight values, a factor rotation is performed to determine the local mode and (local mode) weight values (step 220). In various embodiments, in contrast to global data, the local mode determines the position of the motion of a surface point, for example, the position of a motion of an animated object that is relatively independent of a surface point (often far away). Identify. An example of this is illustrated below.

More generally, the basis functions can be transformed into any linearly independent set, which is the same in a way that makes the basis functions more directly related to the control of the animatronic unit. Spread in space. In some embodiments, what is desired is the determination of a factor rotation matrix “R” (generally a symmetric square matrix), where R ^T = R, and the local mode b ′ _{i, j} has the relationship Localized according to
b ′ _{i, j} R = b ′ _{i, j}
With such an embodiment, the above equation becomes:

この式において、ｂ’_ｉ，ｊＲ^Ｔは、ローカルモードを表す。

In this equation, b ′ _{i, j} R ^T represents the local mode.

  In some embodiments of the present invention, one factor rotation technique implemented is a “Varimax” orthogonal rotation analysis. In other embodiments, other factor rotation techniques may be used. As described above, the result of this technique is that the motion of the position of the animated object specified in the data set is localized according to a given criterion, such as least squares minimum error.

  In various embodiments, based on the identified local modes, the user determines the number of “primary” local modes (step 230). In some embodiments, the number of local modes may be related to the number of physical control structures included in the configuration of the physical model of the object. As an example, based on the local mode, the user may specify the number of distinct areas to which the control structure is assigned. For example, for the upper arm, the user may select one local mode, which is associated with the region of the object's biceps that is the primary local mode.

  Next, based on the primary local mode, the user may identify the configuration of the physical model of the object (step 240). In various embodiments, the physical control structure can be associated with one or more physical devices that provide the desired motion.

  In various embodiments, the physical control structure may be any combination of a pulling electric motor or a pushing electric motor, an extension hydraulic system or clamping hydraulic system, an extension pneumatic system or clamping pneumatic system or an extension fluid control system or clamping fluid. It can be a control system, a rotary system or a shear system, or any combination of the above. As an example, one fluid control system can be used on an animated face to inflate the eyeball, an electric motor can pull the skin behind the eye to open the eye, etc. is there. In view of this disclosure, it will be apparent to those skilled in the art that many other types of controlled physical structures can be used to provide movement by the desired user of the position of the surface of the physical model of the object. Further examples are illustrated below.

  FIG. 2B illustrates a high level illustration of various embodiments for observing and adjusting the motion of a physical model of an object.

  Based on the configuration specifications, a physical model (animatronics unit) of the animated object can be constructed (step 250). As described above, any conventional number of physical components can be used to manipulate (eg, move, deflect, bend, stretch, etc.) various portions of the physical model.

  In various embodiments, the local mode weight value determined in step 220 associated with the primary local mode is determined and applied to each physical control structure in the form of a drive signal (step 260). As an example, when a face smiles, one primary local mode may specify that the cheek of an animated face rises and spreads from the face. Thus, the local mode is multiplied by the associated weighting factor, and that product is applied to the cheek lift control structure. As another example, based on the weighting factor, the signal is sent to two electric motors located under the “skin” of the animated face. The two electric motors can then rotate and push in an upward direction.

  In various embodiments of the present invention, in step 260, the drive signal may be based on specific animation data. In some embodiments, the animation data provided in step 200 may be considered “training data”, which is for an animated object so that a physical model of the object can be constructed. Identify the maximum range of motion desired. In step 260, the particular animation data used may specify the animation subset range for the training data. For example, the training animation data may include both eyes of a character that winks individually, and the particular animation data used in step 260 may be simply the left eye of the winking character.

  In various embodiments in which specific animation data is provided, the associated weighting factor can be modified according to the local mode determined in step 230. Then, at step 260, based on the associated weighting factor, a specific drive signal is determined and applied to the physical model (animatronic unit) of the object. Then, in step 270, the user can observe a controlled movement of the physical model of the object.

  In various embodiments, the pose and movement of the physical model of the object is visually compared to the desired pose and movement of the object (step 280). For example, the user may have a physical model that is not moving at the proper speed or in a desired path, such as the object's physical model is not fully straightened or fully retracted or not smiled. You can see not. In another embodiment, a user (e.g., animator) may exercise physical model of the object, may determine whether to achieve the "look" desired the animated character.

  In response to the visual comparison, the user may adjust the weighting factor and / or drive signal (step 285). As described above, local modes can overlap on the object, and only some local modes can be implemented in the physical model, and as a result, it can be difficult to duplicate a particular pose. In addition, due to the physical limitations of the component (eg, non-linear elastic material, etc.), the physical configuration may not accurately mimic the desired local mode. Thus, the actual range of poses in the physical model of the object may not look exactly like an animated character (desired movement). Due to this, it is often expected that the user must adjust the weighting factors, the physical configuration of the physical model of the object, and so on. The above process can then be repeated to see if the adjustment is useful. Further details and other embodiments are provided below.

  If the user is satisfied with the movement and physical pose of the physical model (or modified physical model) of the object, control data (eg, weighting factors, control signals sent to the control structure, etc.) are stored in memory. (Step 290). Then, the control data from the memory, "regular" mode of operation is desired, for example, a vehicle or attraction for entertainment, can drive the physical model of the object in such performance. In various embodiments, a conventional computer system, such as a physical model remote computer system 100, may control the object (step 295). In other embodiments, dedicated computer systems, embedded systems, etc. may be used to store control data, control signals for control structures, etc., to control the physical model of the object.

  By way of example only, a toy having a movement similar to that specified by the desired animation data may be identified and configured according to the principles described above. The desired drive data can then be converted into control signals that are stored as computer-executable instructions on an on-board memory such as flash memory, ROM, etc., and have a microprocessor embedded in the toy. Drive to control toy movement.

  FIG. 3 illustrates a block diagram of an additional process according to various embodiments of the present invention. More specifically, FIG. 3 provides a high level illustration of an embodiment that modifies the motion of a physical model of an object.

  Initially, as in FIG. 2B, a physical model (animatronics unit) of the animated object may be constructed based on the configuration specification (step 250). As mentioned above, any physical components of the conventional number, operates the various parts of the physical model (e.g., move, deflect, bend, stretching, etc.) it may be used for.

  In various embodiments, in step 260 an appropriate drive signal can be determined and applied to the physical model. The present inventors have found that the process of adapting the physical movement of the physical model in motion is desired, the space - the time problem, recognizes that at least in part be solved by using a computer. Thus, in step 260, an “initial guess” of the appropriate drive signal is applied to the physical model.

Then, in various embodiments, at step 300, the pose and movement of the physical model of the object is recorded in the computer system and / or observed by the user. Specifically, the actual space / time location (or other constraints) of the physical model of the object is determined in step 300. In various embodiments of the invention, many different ways of doing this are envisaged. Various embodiments include using servo motors that are placed at specific junctions or the like of the physical model.
In such an embodiment, the angular position of the servo motor is monitored against the animation time to help calculate the position of the entire physical model relative to the animation time. Other embodiments include using motion capture techniques such as reflective dots positioned on the physical model. In such an embodiment, after being calibrated in space, when collected by a video camera or the like, the position of the reflected dots and then the physical model can be determined with respect to time. In yet other embodiments, the physical movement of the object can be collected through the use of a number of physical touch sensors placed at key positions in space. These physical sensors then sense when or when the physical model moves to a major position in space. In still other embodiments, laser distance measuring devices or other three-dimensional scanning techniques can be used to help calculate the actual position of the physical model, the path of the physical model, etc. relative to the animation time.

  In various embodiments, then, on the basis of the animation data, the computer system may predict or determine a motion that is desired of various parts of the object that is animated in space and time (Step 310). In some embodiments, the desired pose of the animatronic unit may be a simple pose and movement of an animated object driven by animation data (eg, a feature whose source is animated).

  Then, in various embodiments of the present invention, the actual space / time positions of the physical objects, as to whether there desirable is space / time allowable amount within a deviation from the position for the duration, a determination is made (Step 330). In some embodiments, the deviation may depend on what is important for the animation of the physical model. For example, it may be more important for a physical model to perform an action at a particular moment in time than how the physical model performs (ie, moves) that action, Closely following the path of motion may be more important than the speed at which the physical model performs the motion, or any other combination. Thus, the amount and type of deviation that can be tolerated is highly dependent on the application of the physical model of the object. As a concrete example, the comparison data shows deviations related to the physical model of the object not flying high enough, fast or slow closing of the hand, failure to catch falling objects, or other movements. obtain.

  In various embodiments, at step 330, the type of deviation can be an absolute deviation, a cumulative deviation, or any other type of deviation. For example, the deviation may be unacceptable if the physical model deviates more than 10% from the predicted space / time position in space / time at any time. As another example, if the physical model is shifted in space / time position by 5% or less in space with respect to 75% of animation time, even if the peak space / time deviation exceeds 10%, the deviation May be acceptable. In another example, if the physical model cannot reach a position at a particular time, the physical model has exceeded an acceptable threshold. In other embodiments, other combinations of conditions may be used to set the threshold condition, depending on the particular application. In addition, the threshold can be set automatically or manually.

  In various embodiments of the present invention, if the amount of deviation is unacceptable, the deviation (eg, error signal) is used to automatically or manually (eg, weight) drive data for the physical model of the animatronic unit. It can be used to correct (using factors) (step 340). In some examples, if the physical model of the object “hits” or reaches all desired spatial locations, but a bit slower, the drive data, eg, motor current, may increase and the drive data May be applied more quickly. In other examples, even if the physical model does not hit the desired spatial location, the drive data, e.g., motor current, can increase, and a pause in the drive data is introduced to move the physical model to a particular location. It can be possible. In other embodiments, many other ways to modify the drive data are envisaged.

  In some embodiments of the invention, the configuration of the physical model may be modified automatically or manually to allow the physical model to reach the desired space / time position. For example, the physical model may be reconfigured to use lighter weight components, reducing the inertia of the components, allowing the physical model to move more quickly, such as with higher follow-up drive motors, The physical model is reconfigured to use stronger or additional components, and the stronger or additional components can handle more stress, handle greater loads, or more quickly. The placement of physical components may allow the physical model to be repositioned to allow faster movement, etc. by utilizing a larger leverage ratio. The reconstruction may depend on the physical model creator's real world experience.

  In other embodiments of the present invention, if the animatronic character's arm “rebounds” when it reaches the desired position at the desired time, the speed of the arm between the moving parts will be the majority of the movement. Can increase in between, but if the arm approaches the desired position (ie, from a linear drive signal to a non-linear drive signal), it can decrease and the lighter component can be reduced (to reduce arm inertia) It may be possible to be used in In other embodiments, combinations of changes in drive signals and physical configurations can be proposed in the design.

  In yet another embodiment of the invention, the user may modify the animation data used to determine the drive signal at step 260. For example, the user may determine that by using the techniques described above, the physical model cannot simply satisfy the desired space / time location. In such a case, the user may identify a new set of animation data, and the new set of animation data is used in step 260 to determine the drive signal. For example, if the physical model cannot move along the desired path to reach a position at a certain point in time, the user has the hope that the physical model can reach that position at the desired time, A simplified path of motion can be identified via animation data.

  In various embodiments, steps 250-340 may be repeated until the physical model of the object has reached the desired space / time position desired by the user. In various embodiments, the process may be automated and / or include manual input to reduce the space-time error of the physical model of the object (driven using animation data at step 200).

  FIG. 6 illustrates a high-level exemplary block diagram of an additional embodiment for modifying the motion of a physical model of an object.

  In various embodiments, a software simulation of a physical model of an object can be determined. In some embodiments, the software simulation may be performed with a computer aided design (CAD) simulation system or the like. In other embodiments, a physical model of the object may have been constructed, and the software model configured in this step may be based on the real-world performance of the physical model. For example, a software simulation of an object may be based on the measured performance of a physical object that performs a particular movement.

  In various embodiments, software simulation can determine how a physical model of an object can be paused without requiring that a physical model (animatics unit) be available, and how the physical model is Give users an idea of what they can do. Such an embodiment may be useful when the animation team is remote from the animatronic unit.

  Similar to step 260 above, in various embodiments, an appropriate drive signal can be determined in step 510 and applied to a software simulation. As noted above, the inventors recognize that the space-time behavior of software simulation should be studied to improve the behavior of animatronic units.

  In various embodiments, the pose and the movement of software simulation of animatronics unit, as in step 300 described above, are recorded by the user in step 520, and / or observed. Next, in various embodiments, based on the animation data, the computer system may predict or determine the desired movement of various portions of the animated object in space and time (step 530). . In some embodiments, the desired pose of the animatronic unit may be simply a pose and movement of an animated object (eg, a source animated feature) driven by animation data.

  Then, in various embodiments of the present invention, as to whether the actual or space / time positions is within an acceptable amount of deviation from the space / time positions desired for the period of the software model of the physical object, determined Is performed (step 540). As mentioned above, in some embodiments, the deviation may depend on what is important for the animation of the physical model. For example, it may be more important for a physical model to perform an action at a particular moment in time than how the physical model performs that action (ie, moves) Closely following the path of motion may be more important than the speed at which the physical model performs the motion, or any other combination. Thus, the amount and type of deviation that can be tolerated is highly dependent on the application of the physical model of the object. As a concrete example, the comparison data shows deviations related to the physical model of the object not flying high enough, fast or slow closing of the hand, failure to catch falling objects, or other movements. obtain.

  In various embodiments, similar to step 330 above, the type of deviation can be an absolute deviation, a cumulative deviation, or any other type of deviation. For example, if the physical model deviates more than 20% of the average from the predicted space / time position in space / time at any time, the deviation may be unacceptable. In another example, if the physical model cannot reach a position at a particular time, the physical model has exceeded an acceptable threshold.

  In various embodiments of the present invention, if the amount of deviation is unacceptable, the deviation (eg, error signal) is used to automatically or manually drive data for the animatronic unit (eg, using a weighting factor). And can be used to modify (step 560). In some examples, the software simulation of the object hits all desired spatial locations, but if it is too early, the hydraulic pump can be turned on later in time and the hydraulic pressure of the hydraulic system is reduced And so on. In other examples, if the software simulation of the physical model does not “hit” or reach the desired spatial location, the pneumatic system may increase in pressure, and the pneumatic system may be operated earlier in time. And so on. In other embodiments, many other ways to modify the drive data are envisaged.

  In various embodiments, steps 500-560 may be repeated until the software simulation of the animatronic unit reaches the desired space / time position desired by the user. In various embodiments, the process may be automated and / or include manual input to reduce the space-time error of the physical model of the object (driven using animation data at step 200).

  In some embodiments, if the software simulation meets the space-time constraints desired by the user, the process may return to the illustrated FIG. 2B or FIG. In such cases, if an animatronic unit is not built in step 250, a physical model can be constructed and tuned according to the respective process. In other cases, if an animatronic unit has already been constructed, step 250 may include making changes to the animatronic unit as determined in step 560. In still some other cases, step 250 may have already been performed and an animatronic unit may have already been constructed.

  4A-B illustrate examples in accordance with various embodiments of the present invention. FIG. 4A illustrates an example of a global primary mode 370 that is determined for an exemplary data set associated with an object surface. In this example, the + and − portions represent changes in relative depth. As can be seen, the + and − portions in the global primary mode 370 extend beyond a small area.

  In contrast, FIG. 4B illustrates an example of a local mode 380 that is determined based on a global primary mode after factor rotation. In this example, the + and − portions also represent changes in relative depth. As can be seen, the + and − portions in the local mode affect a smaller area. In accordance with various embodiments described above, a plurality local modes are relatively clear area on the object surface, the area is, as a result, be associated with each physical control structures.

  5A-C illustrate examples of physical control structures according to various embodiments of the present invention. FIG. 5A illustrates an example of a motor 400 used to provide a localized bulge 410 (eg, a smiling person's cheek). FIG. 5B illustrates an example of a motor 420 connected to the wire 430, which is used to provide a localized indentation 440 (eg, a frown of a person's lips). FIG. 5C illustrates an example of a pressurized system 450 (eg, hydraulic, pneumatic) connected to a piston 460 that is connected to the piston 460 to provide an extension effect 470 or arm. Used.

  In view of the above disclosure, those skilled in the art will appreciate that many other types of mode analysis can be performed to determine a global motion mode or a localized motion mode. In addition, in view of the above disclosure, one of ordinary skill in the art can use and combine many other ways of implementing physical control structures to give “life” to the physical representation of an animated character I understand that.

  After reading this disclosure, further embodiments may be envisioned by those skilled in the art. In other embodiments, combinations or sub-combinations of the above disclosed embodiments may be advantageously performed. Architecture block diagrams and flow diagrams are grouped for ease of understanding. However, it should be understood that block combinations, new block additions, block rearrangements, and the like are expected in alternative embodiments of the invention.

  The specification and drawings are, accordingly, to be regarded in an illustrative sense rather than a restrictive sense. However, it will be apparent that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention as set forth in the claims.

Claims (24)

A method for determining the behavior of an animatronic unit, the method comprising:
Receiving animation data including artistically determined movements for at least a portion of the animated character;
Determining a plurality of control signals to be applied to a portion of the animatronic unit in response to the animation data;
Estimating the behavior of at least the portion of the animatronic unit in response to the plurality of control signals by driving a software simulation of at least the portion of the animatronic unit with the plurality of control signals;
Outputting to the user a representation of the behavior of at least the portion of the animatronic unit. The animation data describes a specific pose or specific movement for at least the portion of the animatronic unit;
The behavior includes a predicted pose or predicted motion for at least the portion of the animatronic unit;
The method modifies animation data or software simulation of at least the portion of the animatronic unit in response to the specific pose or the specific motion and the predicted pose or the predicted motion. The method of claim 1, further comprising: The animation data describes a specific movement for at least the portion of the animatronic unit;
Determining the plurality of control signals includes
In response to the particular movement, determining a space-time specific enhanced movement for at least the portion of the animatronic unit;
Determining the plurality of control signals applied to at least the portion of the animatronic unit in response to the space-time specific enhanced motion. 2. The method according to item 1. A computer system for determining the behavior of an animatronic unit, the system comprising:
A memory configured to store animation data including artistically determined movements for at least a portion of the animated character;
A processor coupled to the memory, the processor configured to determine a plurality of control signals to be applied to a portion of the animatronic unit in response to the animation data; Is configured to estimate the behavior of at least the portion of the animatronic unit in response to the plurality of control signals by driving a software simulation of at least the portion of the animatronic unit with the control signal of The processor comprises: a processor configured to output a representation of the behavior of at least the portion of the animatronic unit to a user. The animation data describes a specific pose or specific movement for at least the portion of the animatronic unit;
The behavior includes a predicted pose or predicted motion for at least the portion of the animatronic unit;
The processor is configured to modify animation data or software simulation of at least the portion of the animatronic unit in response to the specific pose or the specific motion and the predicted pose or the predicted motion. The computer system according to claim 4, which is configured as follows. The animation data describes a specific movement for at least the portion of the animatronic unit;
The processor is configured to determine a space-time specific enhanced motion for at least the portion of the animatronic unit in response to the particular motion;
The processor is configured to determine the plurality of control signals applied to at least the portion of the animatronic unit in response to the space-time specific enhanced motion. 6. The computer system according to any one of 5 above. A computer program product on a tangible medium, the computer program product comprising executable code executable on the computer system, the computer system comprising a processor and memory, the computer program product comprising: ,
Code configured to instruct the processor to receive animation data including artistically determined movements for at least a portion of the animated character;
Code configured to instruct the processor to determine a plurality of control signals applied to a portion of the animatronic unit in response to the animation data;
Estimating the behavior of at least the portion of the animatronic unit in response to the plurality of control signals by driving software simulation of at least the portion of the animatronic unit with the plurality of control signals. Code configured to instruct the processor;
A computer program product comprising: code configured to instruct the processor to output to the user a representation of the behavior of at least the portion of the animatronic unit. The animation data describes a specific pose or specific movement for at least the portion of the animatronic unit;
The behavior includes a predicted pose or predicted motion for at least the portion of the animatronic unit;
The computer program product of claim 7, wherein the specific pose or the specific movement is
And further comprising code configured to instruct the processor to modify animation data or software simulation of at least the portion of the animatronic unit in response to the predicted pose or the predicted motion. A computer program product according to claim 7. The animation data describes a specific movement for at least the portion of the animatronic unit;
The computer program product according to any one of claims 7 to 8,
Code configured to direct the processor to determine a space-time specific enhanced motion for at least the portion of the animatronic unit in response to the particular motion;
Code configured to instruct the processor to determine the plurality of control signals applied to at least the portion of the animatronic unit in response to the space-time specific enhanced motion; The computer program product according to claim 7, further comprising: A method for identifying a design for an animatronic unit, the method comprising:
Receiving movement data including artistically determined movement;
Determining a design for the configuration of at least a portion of the animatronic unit in response to the motion data;
Outputting the design for the configuration of the animatronic unit. Determining the design is
Determining a plurality of global characteristic poses in response to the motion data;
Determining a plurality of local characteristic poses in response to the plurality of global characteristic poses;
11. The method of claim 10, comprising: determining the design for a configuration of the animatronic unit in response to the plurality of local characteristic poses. Predicting the movement of the portion of the animatronic unit in response to the movement data;
Driving the portion of the animatronic unit using a drive signal determined in response to the motion data to determine movement of the portion of the animatronic unit;
Determining a difference between movement of the portion of the animatronic unit in response to the drive signal and predicted movement of the portion of the animatronic unit in response to the movement data;
12. The method of any one of claims 10-11, further comprising: determining a control mapping for the portion of the animatronic unit in response to the difference.   Wherein it is determined the design for construction of the portion of the animatronics unit is also responsive to mechanical constraints, the method according to any one of claims 10-11. A computer system comprising:
A memory configured to store motion data including artistically determined motion;
A processor coupled to the memory, the processor configured to determine a design for a configuration of at least a portion of the animatronic unit in response to the motion data, the processor including the animatronic unit; A computer system comprising: a processor configured to output the design for a configuration of: The processor is configured to predict a position relative to the portion of the animatronic unit in response to the motion data;
The processor is configured to drive the portion of the animatronic unit using a drive signal determined in response to the motion data to determine a position of the portion of the animatronic unit;
The processor is configured to determine a difference between the position of the portion of the animatronic unit that is responsive to the drive signal and the predicted position of the portion of the animatronic unit that is responsive to the motion data. Configured,
The computer system of claim 14, wherein the processor is configured to determine a control mapping for the animatronic unit in response to the difference.   The motion data includes animation data associated with the animated character, physical performance motion capture data, animation data associated with the animated face, and facial performance motion capture data. The computer system according to any one of claims 14 to 15, which is selected from the group.   Said processor is configured to determine a software simulation model for the animatronics unit in response to said control mapping, the computer system according to any one of claims 14 to 16. A computer program product on a tangible medium, the computer program product comprising executable code executable on the computer system, the computer system comprising a processor and memory, the computer program product comprising: ,
Code configured to instruct the processor to retrieve motion data including artistically determined motion from the memory;
Code configured to instruct the processor to determine a design for a configuration of at least a portion of the animatronic unit in response to the motion data;
And a code configured to instruct the processor to output the design for the configuration of the animatronic unit. Code configured to instruct the processor to determine a plurality of global characteristic poses in response to the motion data;
Code configured to instruct the processor to determine a plurality of local feature poses in response to the plurality of global feature poses;
The computer program of claim 18, further comprising code configured to instruct the processor to determine the design for a configuration of the animatronic unit in response to the plurality of local characteristic poses. Product.   20. A computer program product according to any one of claims 18 to 19, wherein the artistically determined movement comprises a plurality of poses with respect to time. A method of constructing an animatronic unit, the method comprising:
Receiving a design for a configuration of a portion of the animatronic unit;
Configuring the portion of the animatronic unit in response to the design for the configuration of the portion of the animatronic unit;
The method, wherein the design for the configuration of the portion of the animatronic unit is determined in response to motion data including artistically determined motion.   The method of claim 21, wherein the design for the configuration of the portion of the animatronic unit includes a specification of a region associated with the portion of the animatronic unit having a local characteristic pose. Configuring the portion of the animatronic unit includes coupling a control structure to the region associated with the portion of the animatronic unit;
23. A method according to any one of claims 21 to 22, wherein the control structure is selected from the group consisting of a hydraulic drive, a pneumatic drive, and an electric motor.   24. An animatronic unit constructed according to the method of any one of claims 20-23.

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