Disney Research Pittsburgh

We present an integrated framework for interactive editing of the momentum and external forces in a motion capture sequence. Allowing user control of the momentum and forces provides a powerful and intuitive editing tool for dynamic motions.

In this paper, we demonstrate that a neuromuscular controller built based on the human anatomical structure and motion data can realize human-like responses to unexpected disturbances during locomotion.

This paper investigates the optimization and control of biped walking motion on a rolling cylinder.

This paper investigates the effect of foot shape on biped locomotion. In particular, we consider planar biped robots whose feet are composed of curved surfaces at toe and heel and a flat section between them.

This paper proposes a new grasp force efficiency (GFE) measure that considers not only contact point locations but also the hand configuration and mechanism. GFE evaluates the largest wrench applied to the object that the grasp can resist with unit contact forces.

This paper describes a general method for systematically obtaining simplified models of humanoid robots. We demonstrate an application of derived models to humanoid robot balance control using linear quadratic regulators.

This paper presents an efficient algorithm for computing a distance measure between two compact convex sets Q and A, defined as the minimum scale factor such that the scaled Q is not disjoint from A.

In contrast to existing systems that fabricate custom heads that are assembled to pre-fabricated plastic bodies, our system seamlessly integrates 3D facial data with a predefined figurine body into a unique and continuous object that is fabricated as a single piece.

Advances in 3D printing enable custom fabrication for a fraction of the traditional cost, opening new avenues for research and commercial enterprise. This talk presents a semi-automated system for fabricating figurines with faces that are personalized to the individual likeness of the customer.

We propose technology for designing and manufacturing interactive 3D printed speakers. With the proposed technology, sound reproduction can easily be integrated into various objects at the design stage and little assembly is required. The speaker can take the shape of anything from an abstract spiral to a rubber duck, opening new opportunities in product design.