Disney Research Los Angeles

In this paper, we examine a novel biologically-inspired control method, emulating antagonistic muscle pairs based on a nonlinear Hill model.

In this paper, we develop a thermomechanical and thermoelectric model of SCP actuators, and examine their controllability.

Virtual humans are often endowed with human-like characteristics to make them more appealing and engaging.

We have prototyped a compact, fluid-suspension, electromagnetically-rotated animatronic eye.

In this paper, we introduce a framework to analyze the bandwidth of such display devices.

A number of foot placement strategies for walking have been proposed that make use of widely varying model complexities. Although a number of successful demonstrations have been individually shown in simulation and on physical robots, it is difficult to make a direct performance comparison due to the large differences in hardware, gait generation strategy, control system gains, actuator saturation limits, sensor noise, and many other physical limitations. Here we present a quantitative stability comparison of four foot-placement strategies.