Abstract: A system for externally actuating an animatronic figure. The system including a first robotic mechanism configured as a remote center mechanism for rotating a first rod about a first remote center point. The first rod is attached to a first driven part of the figure with the first remote center point spaced apart from the figure. The system includes a second robotic mechanism rotating a second rod about a second remote center point. The second rod is attached to the second driven part of the animatronic figure, and the second remote center point is spaced apart from the animatronic figure. The system includes a third robotic mechanism rotating a third rod about a remote center point, with the third rod attached to a third driven part of the figure, and the three robotic mechanisms are concurrently operable via a computer-based controller to provide the figure with twenty-one degrees of freedom.

Abstract: A system for producing motions for an animatronic figure is disclosed. The system is configured to produce different types of motions in real-time and in a life-like manner. The motion software module forms a composite motion by combining the user-inputted motion with user-selected fixed sequences and/or with algorithmically calculated motion. The motions of the animatronic figure can further be filtered to produce motions that are life-like. Combined motions are formed by superimposing, modulating, or modifying component motions. Motions are filtered based on user-inputted commands and commands determined from a stimulus and filtered to create a life-like motion.

Abstract: A system for externally actuating an animatronic figure. The system including a first robotic mechanism configured as a remote center mechanism for rotating a first rod about a first remote center point. The first rod is attached to a first driven part of the figure with the first remote center point spaced apart from the figure. The system includes a second robotic mechanism rotating a second rod about a second remote center point. The second rod is attached to the second driven part of the animatronic figure, and the second remote center point is spaced apart from the animatronic figure. The system includes a third robotic mechanism rotating a third rod about a remote center point, with the third rod attached to a third driven part of the figure, and the three robotic mechanisms are concurrently operable via a computer-based controller to provide the figure with twenty-one degrees of freedom.

Abstract: A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.

Abstract: A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.

Abstract: In one aspect, a supported walking system is disclosed, comprising a robotic walking figure and a wheeled support that at least partially supports the robotic walking figure. The supported walking system may be driven and controlled by a human operator. Computer algorithms automatically control the robot's walking functions so that it may step forwards, backwards, and sideways in synchronicity with the movements of the cart while driving and turning at varying speeds.

Abstract: In one aspect, a supported walking system is disclosed, comprising a robotic walking figure and a wheeled support that at least partially supports the robotic walking figure. The supported walking system may be driven and controlled by a human operator. Computer algorithms automatically control the robot's walking functions so that it may step forwards, backwards, and sideways in synchronicity with the movements of the cart while driving and turning at varying speeds.

Abstract: A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any direction is actuated by at least one micro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the master with a Jacobian Transpose controller. A slave having more degrees-of-freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart, and cancelling out any such motion in the motions perceived by the master.