Animated robots and robotic animation

Summary form only given. We are interested in physical robots that move in the physical world and in simulated creatures that move in the virtual world. We have built a series of physical robots that include one-legged hoppers, biped runners, a quadruped, and two kangaroo-like robots. These robots use simple control systems to run with several gaits, go fast, traverse simple paths, jump obstacles, climb a simplified stairway, and perform rudimentary gymnastic maneuvers. Although no one robot performs all these task, they all use a common set of principles for their control. We think that active balance, springy legs, and dynamic control are the features responsible for whatever "lifelike" behavior these machines have. Recently we have begun to use ideas about robot control to control animated creatures. The idea is to give these creatures knowledge and control of their body motion so the animator can act more like a director, working at a relatively high level. If the creature knows how to move in response to task-level instructions, then the director can concentrate on creating the overall action and story.