Animated Cassie: A Dynamic Relatable Robotic Character

Creating robots with emotional personalities will transform the usability of robots in the real-world. As previous emotive social robots are mostly based on statically stable robots whose mobility is limited, this work develops an animation to real-world pipeline that enables dynamic bipedal robots that can twist, wiggle, and walk to behave with emotions. We use an animation framework to design emotive motions for the virtual robot’s character. A dynamics optimizer is then used to convert the animated mot