Systems and methods to control an entertainment figure

An animated figure system includes an animated figure comprising a flexible skin layer, an actuating system coupled to a connection location of the flexible skin layer, and an automation controller. The automation controller is configured to access a digital model of the animated figure, in which the digital model comprises a vertex associated with the connection location, determine a first positioning of the vertex within the digital model, and control the actuating system to set a second positioning of the connection location based on the first positioning of the vertex.

BACKGROUND

Amusement parks may include various features to provide a unique experience to guests. For example, an amusement park may have various rides and shows that entertain guests. Furthermore, the amusement park may have show effects and props that may create a desirable environment or atmosphere for guests. Such features may include entertainment figures (e.g., animated characters, animated figures) that may interact with guests. For instance, the entertainment figures may speak, wave, walk, or perform any other suitable actions.

BRIEF DESCRIPTION

A summary of certain embodiments disclosed herein is set forth below. It should be noted that these aspects are presented merely to provide the reader with a brief summary of these certain embodiments and that these aspects are not intended to limit the scope of this disclosure. Indeed, this disclosure may encompass a variety of aspects that may not be set forth below.

In an embodiment, an animated figure system includes an animated figure comprising a flexible skin layer, an actuating system coupled to a connection location of the flexible skin layer, and an automation controller. The automation controller is configured to access a digital model of the animated figure, in which the digital model comprises a vertex associated with the connection location, determine a first positioning of the vertex within the digital model, and control the actuating system to set a second positioning of the connection location based on the first positioning of the vertex.

In an embodiment, an animated figure system includes an animated figure having a connection location, a first actuator, and an extension having an end coupled to the connection location and a section coupled to the first actuator such that a length of the extension extends between the connection location and the first actuator. The first actuator is configured to move the section of the extension. The animated figure system also includes a second actuator configured to extend or retract the extension to change the length of the extension extending between the connection location and the first actuator and an automation controller configured to control the first actuator and the second actuator to set a positioning of the connection location.

In an embodiment, a non-transitory computer-readable medium having executable instructions that, when executed by a processor, are configured to cause the processor to access a digital model of an animated figure, in which the animated figure includes a connection location, and the digital model comprises a vertex associated with the connection location. The instructions are also configured to cause the processor to determine a first positioning of the vertex of the digital model and control an actuating system of the animated figure to set a second positioning of the connection location based on the first positioning of the vertex of the digital model.

DETAILED DESCRIPTION

One or more specific embodiments will be described below. In an effort to provide a concise description of these embodiments, not all features of an actual implementation are described in the specification. It should be noted that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be noted that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure.

When introducing elements of various embodiments of the present disclosure, the articles “a,” “an,” “the,” and “said” are intended to mean that there are one or more of the elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. One or more specific embodiments of the present embodiments described herein will be described below. In an effort to provide a concise description of these embodiments, all features of an actual implementation may not be described in the specification. It should be noted that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be noted that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure.

The present disclosure relates to an amusement park. The amusement park may include various features to entertain guests and patrons. For instance, the amusement park may include attractions, such as rides or shows. The amusement park may also include props and show effects to provide unique experiences for the guests. Such props and show effects may include an entertainment figure (e.g., an animated character, an animated figure). As used herein, an entertainment figure refers to any suitable physical prop that uses a mechanical feature to move or change a surface that is visible to a guest. In an example, the entertainment figure may include an automated or remotely-controlled machine (e.g., a robot). In another example, the entertainment figure may include a suit wearable by a person and equipped with a mechanical feature. In any case, the mechanical feature of the entertainment figure may perform a unique function, such as an automated action. The entertainment figure may interact with the guests to provide an interactive entertainment experience for the guests, and the mechanical feature may enhance the experience for the guests. Although the present disclosure is primarily directed to an amusement park, it should be noted that techniques and features described herein may be implemented in any suitable setting or venue.

Without the disclosed embodiments, it may be difficult to control certain aspects of the entertainment figures and/or to emulate a realistic representation, thereby limiting the experience provided by the entertainment figure. It is now recognized that it would be desirable to control facial expressions of the entertainment figure to portray a more realistic representation (e.g., emotion). Accordingly, embodiments of the present disclosure are directed to an improved system to control the entertainment figure and to improve the experience provided by the entertainment figure.

In an embodiment, a virtual (e.g., digital, computerized) model of the entertainment figure is referenced, and the virtual model represents a realistic depiction of at least a portion (e.g., face) of the entertainment figure. Different virtual parts of the virtual model may be associated with corresponding physical parts of the entertainment figure. The position, orientation, movement, and so forth, of the virtual parts may be monitored to determine a corresponding position, orientation, and/or movement of the physical parts. The entertainment figure may include an actuating system configured to coordinate movement of the physical parts to match that of the virtual parts. Indeed, the actuating system may be controlled based on the virtual model to move the entertainment figure accordingly. In this way, the entertainment figure may closely emulate the realistic virtual model, thereby enabling the entertainment figure to appear and/or move more realistically.

Turning now to the drawings,FIG.1is a schematic view of an embodiment of an amusement park50that includes features to entertain a guest52. The amusement park50may include a ride54, which may be a roller coaster, a water ride, a drop tower, a motion simulator, and the like. The amusement park50may additionally or alternatively include a show56, such as a theatrical show, a performance, a concert, and so forth. Moreover, the amusement park50may include a venue58, which may be a food venue (e.g., restaurant), a merchandise store, a hotel, or any other suitable venue58. The guest52may move through the amusement park50, such as via a pathway60, to navigate anywhere within the amusement park50, including to the ride54, the show56, and/or the venue58. Furthermore, the amusement park50may include an entertainmentFIG.62(e.g., an animated character, an animated figure), which may interact with the guest52. It should be noted that the entertainmentFIG.62may also be at any suitable location within or outside of the amusement park50.

In one embodiment, the entertainmentFIG.62may be entirely electromechanical, such as a robot that is programmed to move automatically or via remote control (e.g., not worn by or manually moved via contact with a user or operator). In an additional or alternative embodiment, the entertainmentFIG.62may be partially electromechanical and certain functions of the entertainmentFIG.62may be enabled manually via contact with a user or operator. For instance, the entertainmentFIG.62may include a suit that is wearable by a person and has electromechanical components (e.g., a headgear with mechanically driven facial features), in which the electromechanical components may perform certain functions (e.g., movement of the facial features), but the person may manually orient or position the mechanical components (e.g., by moving their head). In this way, the entertainmentFIG.62may include various features and/or may perform at least certain functions without manual assistance, such as to represent a character that may not be enabled by mere movement of a person.

In an embodiment, the entertainmentFIG.62may include or be communicatively coupled with a control system64(e.g., an electronic controller; an automation controller, such as a programmable-logic controller [PLC]), which may operate the entertainmentFIG.62, such as by causing at least certain portions of the entertainmentFIG.62to move. The control system64may include a memory66and a processor68, such as a microprocessor. The memory66may include volatile memory, such as random access memory (RAM), and/or non-volatile memory, such as read-only memory (ROM), optical drives, hard disc drives, solid-state drives, or any other non-transitory computer-readable medium that includes instructions to operate the entertainmentFIG.62. The processor68may include one or more application specific integrated circuits (ASICs), one or more field programmable gate arrays (FPGAs), one or more general purpose processors, or any combination thereof, configured to execute the instructions stored in the memory66to cause the entertainmentFIG.62to operate accordingly. By way of example, the control system64may cause a part of the entertainmentFIG.62to move relative to another part of the entertainmentFIG.62.

The entertainmentFIG.62may interact with the guest52to provide a unique experience to the guest52. As an example, the entertainmentFIG.62may provide a realistic representation of a character, such as by speaking with the guest52. For instance, while the guest52is navigating through the amusement park50, the entertainmentFIG.62may provide entertainment to the guest52outside of the ride54, the show56, or the venue58. Additionally or alternatively, the entertainmentFIG.62may interact with the guest52within the ride54, the show56, and/or the venue58to provide further entertainment to the guest52. Indeed, the entertainmentFIG.62may be positioned at any suitable location and/or may move throughout the amusement park50to entertain guests52anywhere within the amusement park50.

FIG.2is a schematic view of an embodiment of an entertainment figure system100, which may be used to operate the entertainmentFIG.62. The entertainment figure system100includes the control system64, which may be communicatively coupled to a display102of the entertainmentFIG.62. As an example, the control system64may cause the display102to present a visual output, such as a light, a projection (e.g., an animation of a feature), or any other suitable visual output that is visible to guests of the amusement park. The control system64may be communicatively coupled to a speaker104of the entertainmentFIG.62to cause the speaker104to present an audio output, such as a sound effect, that is audible by the guests. The control system64may be communicatively coupled to an actuating system106of the entertainmentFIG.62so as to cause movement of various parts of the entertainmentFIG.62. For instance, the actuating system106may include actuators (e.g., pneumatic, electromechanical, hydraulic, soft-robotic), such as linear actuators, rotational actuators, and so forth, that are attached to various connection locations108(e.g., points, sections, surface areas, volumes) of the entertainmentFIG.62. In this way, the actuating system106may move (e.g., push, pull) the connection locations108relative to one another in order to move the entertainmentFIG.62.

In an embodiment, the connection locations108may be associated with different sections of the entertainmentFIG.62. For example, one of the connection locations108may be located at an arm of the entertainmentFIG.62and another of the connection locations108may be located at a torso of the entertainmentFIG.62. As such, the actuating system106may move the arm relative to the torso. In an additional or alternative embodiment, the connection locations108may be associated with different parts of the same section of the entertainmentFIG.62. As an example, one of the connection locations108may be located at a part of the forehead of the entertainmentFIG.62, and another connection location108may be located at another part of the forehead. The actuating system106may then move the different parts of the forehead relative to one another to cause fine movement, such as wrinkling, of the forehead, thereby creating a more realistic appearance of the entertainmentFIG.62. Indeed, the connection locations108may be positioned at any suitable part of the entertainmentFIG.62to cause the entertainmentFIG.62to move in a realistic manner.

In the illustrated embodiment, the entertainment figure system100further includes an entertainment figure model110that is accessible to the control system64. For instance, the entertainment figure model110may be stored in the memory66of the control system64and/or in a database, such as a cloud-based storage, that is separate from the control system64and may be readily referenced by the control system64. As used herein, the entertainment figure model110includes any virtual model representative of the entertainmentFIG.62. By way of example, the entertainment figure model110may include a digital (e.g., computerized, virtual) three-dimensional model of the entertainmentFIG.62. The entertainment figure model110may provide a realistic virtual display, such as a realistic orientation, appearance, movement, and so forth, of the entertainmentFIG.62. The entertainment figure model110may animate to move multiple facial features to represent a particular emotional expression (e.g., a smile). The control system64may determine the animation of the entertainment figure model110(e.g., via motion capture, frame tracking), and the control system64may cause the entertainmentFIG.62to move accordingly to match the movement of the entertainment figure model110, thereby emulating realistic movement.

To this end, the entertainment figure model110may include multiple vertices or other suitable sections112. By way of example, the entertainment figure model110includes a mesh structure having the vertices112. The vertices112may move as the entertainment figure model110moves to orient with one another in a specific manner. Furthermore, at least a portion of the connection locations108may correspond to the respective vertices112. The control system64may operate the entertainmentFIG.62such that the orientation of the connection locations108aligns with or matches the orientation of the vertices112so as to produce a realistic appearance of the entertainmentFIG.62. In one embodiment, the entertainment figure model110may include a single digital image having the vertices112at respective positionings, and the control system64may set the positionings of the connection locations108to match with the respective positionings of the vertices112in the digital image, thereby producing a realistic pose of the entertainmentFIG.62.

In an additional or alternative embodiment, the entertainment figure model110may include multiple digital images, and each digital image may have the vertices112at various respective positionings, such as different positionings over an interval of time to represent movement of a virtual entertainment figure. The control system64may move the connection locations108based on (e.g., to match with) the positionings of the digital images over the time interval, thereby producing a realistic movement of the entertainmentFIG.62over the time interval. In other words, as the entertainment figure model110moves to cause movement of the vertices112(e.g., to various positions over time), the control system64may control the actuating system106to cause corresponding movement of the connection locations108(e.g., to various positions over time). By way of example, the vertices112may be different parts of the face of the entertainment figure model110and may move in a realistic manner in the entertainment figure model110to form a smile, and the control system64may cause the connection locations108to move in a corresponding manner that matches with the movement of the vertices112, thereby causing the entertainmentFIG.62to also move in a realistic manner to form a smile. As such, the control system64may move the connection locations108to control fine motor movements of different parts of the entertainmentFIG.62, such as to form realistic skeletal structures, skin wrinkles, and the like, thereby providing a more realistic entertainmentFIG.62.

In an embodiment, the entertainmentFIG.62may include a sensor114(e.g., one or more sensors) that is configured to determine a parameter of the entertainmentFIG.62and is communicatively coupled to the control system64. As an example, the sensor114may determine the position of the connection locations108, and the sensor114may transmit data to the control system64to indicate the position of the connection locations108. The control system64may utilize the data to operate the entertainmentFIG.62. For example, the control system64may determine whether the position of the connection locations108substantially match with the position of the vertices112to determine whether the connection locations108are to be adjusted. In this way, the data may provide feedback and enable the control system64to position the connection locations108more accurately and cause the entertainmentFIG.62to provide a more realistic appearance. Additionally or alternatively, the sensor114may be configured to determine a different parameter associated with the entertainment figure system100, such as an audio input (e.g., words spoken by a guest to the entertainmentFIG.62), a proximity of objects adjacent to the entertainmentFIG.62, a time of day, another suitable parameter, or any combination thereof. The control system64may receive data indicative of the operating parameter monitored by the sensor114and control the entertainmentFIG.62accordingly.

FIG.3is a side cross-sectional view of an embodiment of the entertainmentFIG.62, which includes a head140having a face142. Furthermore, the entertainmentFIG.62includes the actuating system106that is communicatively coupled to the control system64. The illustrated actuating system106is positioned within the head140and a neck area144of the entertainmentFIG.62. However, in an additional or alternative embodiment, the actuating system106may be positioned in any suitable manner relative to the entertainmentFIG.62, such as within legs of the entertainmentFIG.62, at least partially external to the entertainmentFIG.62, or any combination thereof. The illustrated actuating system106may be configured to move certain parts of the face142, such as a first connection location146and/or a second connection location148, each of which may be a part of a layer155(e.g., skin, silicone layer) of the face142of the entertainmentFIG.62. Although the illustrated embodiment primarily discusses moving the layer155of the face142, it should be noted that the disclosed techniques may be implemented to move a layer of any suitable part of the entertainmentFIG.62, including a torso, a leg, a hand, or any other suitable portion visible to a guest.

The entertainment figure system100further includes the entertainment figure model110that may be referenced by the control system64. The entertainment figure model110is shown as a polygon mesh in the illustrated embodiment, but the entertainment figure model110may additionally or alternatively include any suitable model that may be used by the control system64to control the entertainmentFIG.62. The entertainment figure model110may include a first vertex150, which may correspond to the first connection location146, and a second vertex152, which may correspond to the second connection location148. That is, the control system64may cause the actuating system106to move the first connection location146based on (e.g., to match) movement of the first vertex150and, simultaneously or sequentially, to move the second connection location148based on (e.g., to match) movement of the second vertex152. For example, the vertices150,152of the entertainment figure model110may be positioned and oriented in certain manners to provide a realistic depiction of the entertainment figure model110. The control system64may control the connection locations146,148to match the position and orientation of the vertices150,152, thereby matching the appearance of the entertainmentFIG.62with the entertainment figure model110, thereby presenting the entertainmentFIG.62more realistically.

The illustrated actuating system106includes multiple actuators154that are each configured to control one of the connection locations146,148. For example, a first actuator154A may control the first connection location146, a second actuator154B may control the second connection location148, and a third actuator154C may also control the second connection location148. Furthermore, in the illustrated embodiment, each actuator154is coupled to a base156(e.g., frame) that supports the actuators154and blocks unwanted movement of the actuators154(e.g., caused by a gravitational force). In an additional or an alternative embodiment, each actuator154may be coupled to a separate support, and/or each actuator154may be supported in any suitable manner to block unwanted movement of the actuators154. In addition, an extension158may be coupled to each actuator154and to the corresponding connection locations146,148. That is, a first extension158A is coupled to the first actuator154A and to the first connection location146(e.g., via an end effector of the first extension158A), a second extension158B is coupled to the second actuator154B and to the second connection location148(e.g., via an end effector of the second extension158B), and a third extension158C is coupled to the third actuator154C and to the second connection location148(e.g., via an end effector of the third extension158C).

The control system64may control the actuators154to move the corresponding extensions158and thereby move the associated connection locations146,148. Although the actuators154and/or portions of the extensions158are positioned internally within the illustrated entertainmentFIG.62, the actuators154and extensions158may be positioned external to the entertainmentFIG.62in an additional or alternative embodiment. For example, the actuators154may be attached to a wall or support structure that is located exterior to the entertainmentFIG.62. Additionally, the actuating system106may be easily accessible, such as for performing maintenance. By way of example, the head140may be easily detached from the connection locations146,148and may be removed from a remainder of the entertainmentFIG.62such that the interior of the entertainmentFIG.62is exposed to enable access to the actuating system106.

Furthermore, in an embodiment, each extension158may be coupled to the base156by a respective support160attached to the extension158along the length of the extension158. Each support160may block the corresponding extension158from substantially deforming (e.g., bending, changing in length). In this manner, each of the extensions158and supports160includes a rigid structure (e.g., a rod or tube). A respective support feature, such as a joint162, that enables movement of the extensions158relative to the supports160may be provided at an interface between each extension158and its support160. By way of example, each joint162may be a ball and socket joint that enables the extensions158to rotate about the respective supports160, but the position of each joint162may be substantially maintained such that the sections of each extension158coupled to the respective joints162may be substantially maintained relative to one another. As an example, an end of the support160is a socket, and a curved portion of the extension158rotates within the socket. However, the joint162may be any suitable type of joint (e.g., a hinge) that may be used to support the extension158, to provide a mechanical advantage for moving the extension158, to reduce movement of a particular section of the extension158(e.g., relative to one another), or any combination thereof.

In one embodiment, each actuator154may remain substantially fixed relative to the base156, but each extension158may move relative to the actuators154. By way of example, the actuators154may move a respective first end164of each extension158, thereby causing corresponding movement (e.g., rotational movement about the joints162) of a respective second end166of each extension158to move the connection locations146,148. In an embodiment, the actuators154(e.g., gantry-like actuator) may move the respective first ends164in multiple degrees of freedom, such as along a plane formed by a vertical axis168and a lateral axis170and/or along a plane formed by the lateral axis and a longitudinal axis172. In one embodiment, the supports160may be flexible to move (e.g., flex, bend) relative to the base156to enable the actuators154to move the extensions158along a plane formed by the vertical axis168and the longitudinal axis172. For example, the actuators154may move the first ends164toward a front174of the face142, and the supports160may bend toward the front174of the face142to cause the second ends166of the extensions158and therefore the connection locations146,148to move toward the front174of the face142. In an additional or an alternative embodiment, the actuators154may move relative to the base156to move the connection locations146,148. That is, for example, the actuators154may be movably (e.g., hingedly, rotatably) coupled to the base156. Therefore, the control system64may control the movement of the actuators154relative to the base156in order to move the connection locations146,148. In any case, the control system64may control the actuators154in any suitable manner to cause the extensions158to move the connection locations146,148.

As mentioned herein, the second actuator154B and the third actuator154C may both be configured to control the second connection location148. In this way, the control system64may operate both the second actuator154B and the third actuator154C to move the second connection location148, and movement of the second connection location148may therefore be more acutely controlled. For example, the second extension158B and the third extension158C may be moved in different manners in order to cause certain movement, such as twisting and/or rotation, of the face142at the second connection location148more acutely. For this reason, multiple actuators may be coupled to a connection location to enable greater control of the connection location. Moreover, although each actuator154is coupled to a single extension158in the illustrated embodiment, in an additional or alternative embodiment, any of the actuators154may be coupled to multiple extensions158. Such extensions158may be coupled to the same connection location or to separate connection locations. In this manner, a single actuator154may be configured to control multiple different connection locations.

Further, although the illustrated entertainment figure system100is configured to control two connection locations146,148, an additional or alternative entertainment figure system100may control any suitable number (e.g., 10, 20, 30 or more) of connection locations146,148. For example, the entertainmentFIG.62may have a similar number of connection locations146,148as the number of vertices150,152included in the entertainment figure model110. As such, each section of the entertainmentFIG.62may be acutely controlled to match with the entertainment figure model110. In an additional or alternative embodiment, certain sections of the entertainmentFIG.62may include more connection locations146,148than other sections of the entertainmentFIG.62. For example, it may be more desirable to control the forehead of the entertainmentFIG.62than the chin of the entertainmentFIG.62. As such, there may be more connection locations146,148located in the forehead area than in the chin area. Moreover, certain areas of the layer155may have different attributes to change how movement of the connection locations146,148affects the appearance of the entertainmentFIG.62. By way of example, certain sections of the layer155may be more flexible or softer than other sections, and may therefore be easier to move, and movement of the connection locations146,148in such sections may cause wrinkling effects. Other sections of the layer155may be stiffer or harder and therefore more difficult to move, and movement of the connection locations146,148in such sections may cause the appearance of skeletal movement. For example, the first connection location146may be a part of a first section of the layer155having a first (e.g., low) stiffness, and the control system64may operate the first actuator154A to provide a first effect, such as skin wrinkling of the forehead. The second connection location148may be a part of a second section of the layer155having a second (e.g., high) stiffness, and the control system64may operate the second actuator154B and/or the third actuator154C to provide a second effect, such as skeletal movement of the chin. Further, while this disclosure primarily discusses movement of the connection locations146,148to cause movement of the layer155of the face142, the connection locations146,148may additionally or alternatively move any other suitable part of the entertainmentFIG.62, such as a more interior section (e.g., tongue) of the face142, an outer layer of a different part (e.g., a hand) of the entertainmentFIG.62, and the like, to provide a realistic portrayal of the entertainmentFIG.62.

As shown, the entertainment figure system100includes the sensor114, which may transmit data to the control system64. Such data may include data associated with the connection locations146,148, such as respective positionings of the connection locations146,148. As used herein, the positioning includes a position, which may include a location along the vertical axis168, the lateral axis170, and/or the longitudinal axis172. The positioning may additionally or alternatively include an orientation, which may include a rotation about the vertical axis168, the lateral axis170, and/or the longitudinal axis172. In any case, the control system64may use the data to control the actuators154in order to move the connection locations146,148to desirable positionings. For instance, the control system64may determine whether the connection locations146,148are at respective positionings corresponding to the positionings of the vertices150,152of the entertainment figure model110. As a result, the sensor114may enable the control system64to set the positioning of the connection locations146,148more accurately. In an embodiment, the control system64may store the data received by the sensor114in order to monitor the change in respective positionings of the connection locations146,148, such as to track motion data of the entertainmentFIG.62. The data may be retrieved at a later time, such as to analyze historical positionings of the connection locations146,148during previous operations of the entertainmentFIG.62.

In an embodiment, the layout of the actuating system106may be generated by a computer model, such as based on the entertainment figure model110(e.g., a pose and/or a movement of the entertainment figure model110). The generated layout may enable usage of the actuating system while avoiding collisions between various parts of the actuating system. The layout generated by the computer model may additionally or alternatively include a report having instructions for assembly of the components of the actuating system. In one embodiment, the layout may also include data that enables automatic manufacture of at least part of the actuating system, such as three-dimensional printing of the extensions158. As such, the computer model may facilitate the manufacture and/or operation of the actuating system106.

FIG.4is a side cross-sectional view of an embodiment of the entertainmentFIG.62. The actuating system146includes the actuators154and also extensions202that are coupled to the actuators154and one of the connection locations146,148. Each extension202may be further coupled to the respective supports160via engagement of the joints162. Moreover, the extensions202may include a more flexible material relative to the extensions158(FIG.3). For example, the extensions202may include a cable, a wire, and the like. In this way, a respective length of the extensions202spanning between the actuators154and the connection locations146,148may be adjustable. For instance, the length of one of the extensions202may be increased to move the corresponding connection location146,148away from the actuator154(e.g., in a direction transverse to the plane formed by the vertical axis168and the lateral axis170). The length of one of the extensions202may also be reduced to move the corresponding connection location146,148toward the actuator154. To this end, each extension202may pass through the corresponding joint162, and the joint162may engage a different part of the extension202as the length of the extension202is changed.

In an embodiment, the respective actuators154may be configured to change the respective lengths of the extensions202spanning between the connection locations146,148and the actuators154. For instance, each actuator154may include a feature (e.g., a winch) that may cause the extension202to move transversely relative to the plane formed by the vertical axis168and the lateral axis170. In an additional or alternative embodiment, the actuating system106may include an auxiliary actuator204configured to adjust the length of the extensions202. For instance, the extensions202may pass through the respective actuators154such that a first section206of each extension202is coupled to the actuator154and a second section207is coupled to the auxiliary actuator204. As the auxiliary actuator204changes the length of the extension202, the extension202moves through the actuator154and through the joint162to change the first section206of the extension202coupled to the actuator154. By way of example, the auxiliary actuator204may include a winch of the extension202, and the auxiliary actuator204may adjust the winch to extend or retract the extension202in order to change the length of the extension202spanning between the connection location146,148and the actuator154. The control system64may control the actuators154to move the connection locations146,148substantially along the plane formed by the lateral axis170and the longitudinal axis172and/or substantially along the plane formed by the vertical axis168and the lateral axis170, and the control system64may control the auxiliary actuator204to move the connection locations146,148substantially along the plane formed by the vertical axis168and the longitudinal axis172.

In the illustrated embodiment, a single auxiliary actuator204is configured to control the length of each of the extensions202. However, in an additional or alternative embodiment, the actuating system106may include multiple auxiliary actuators204, such as a separate auxiliary actuator204for each of the extensions202or for subsets of the extensions202. Moreover, in an embodiment, the actuating system106may include additional features to support the extensions202. By way of example, a respective sleeve208(e.g., a tube, a pipe, a conduit) may enclose at least a portion of the lengths of the extensions202spanning between the connection locations146,148and the actuators154. Each sleeve208may be movably coupled to the support160at a corresponding joint162to enable the extensions202to rotate about the joints162, and the extensions202may move through the sleeves208to enable the length of the extensions202to be adjusted. The sleeves208may be generally rigid to support the extensions202and maintain tension of the extensions202. In other words, the sleeves208block slacking or loosening of the extensions202, thereby improving control of the length of the extensions202and of the positioning of the connection locations146,148.

FIG.5is a side cross-sectional view of an embodiment of the entertainment figure system100having the extensions202and the auxiliary actuator204configured to adjust the respective lengths of the extensions202spanning between the connection locations146,148and the actuators154. The illustrated entertainmentFIG.62includes a panel230, rather than the supports160, coupled to the base156and configured to provide support to the extensions202. For example, the panel230may include support features, such as openings232, through which the extensions202extend to engage with the panel230. The openings232may enable the respective extensions202to rotate relative to the panel230and/or to move through the panel230(e.g., to adjust the length spanning between the actuators154and the connection locations146,148). In this manner, the openings232may enable similar movement of the extensions202as that enabled by the joints162of the supports160(FIGS.3and4), while providing support to the extensions202. Although the illustrated embodiment includes a single panel230, multiple panels230may be used in an additional or alternative embodiment. For example, any single one of the extensions202may extend through multiple panels230, and/or each of the extensions202may extend through a separate panel230. The supports160may be used with the panel230.

FIG.6is a side cross-sectional view of an embodiment of the entertainment figure system100having an actuating system250that includes actuators252. Each actuator252may include a set of extensions254coupled to one of the connection locations146,148. The actuators252may be configured to control the extensions254to move the connection locations146,148in suitable manners relative to the vertical axis168, the lateral axis170, and/or the longitudinal axis172. For instance, each actuator252may include a parallel manipulator (e.g., a delta robot, a Stewart platform) configured to move a corresponding connection location146,148in six degrees of freedom. In an embodiment, the actuators252may be fixedly coupled to a part of the entertainmentFIG.62, such as to a base or a mounting point, to block unintentional movement of the actuators252and/or of the connection locations146,148. Moreover, although the illustrated embodiment shows that each connection location146,148is controlled by a single actuator252, in an additional or alternative embodiment, any of the connection locations146,148may be controlled by multiple actuators252to enable the connection location146,148to be controlled more acutely. In a further embodiment, a single actuator252may be configured to control multiple connection locations146,148. For instance, a single actuator252may have multiple sets of extensions254that couple to different connection locations146,148. In any case, the actuators252may move the connection locations146,148without the use of additional components or features, such as the auxiliary actuator204(FIGS.4and5).

FIG.7is a flowchart of an embodiment of a method270for operating the entertainment figure system. For example, the steps of the method270may be performed by a single controller, such as the control system64ofFIGS.1-6. It should also be noted that the steps of the method270may be performed differently than depicted inFIG.7in different embodiments. As an example, additional steps may be performed, and/or certain steps of the method270may be removed, modified, and/or performed in a different order.

At block272, a model (e.g., a virtual or digital model) associated with the entertainment figure is retrieved. The model may include a single image (e.g., a pose) and/or may include several images (e.g., representing movement). Further, in an embodiment, multiple different models may be readily available (e.g., stored in a database) for retrieval. For this reason, the entertainment figure in operation may be identified such that the associated model may be selected. For instance, the particular model associated with the entertainment figure is to be retrieved. Thus, in an example, a particular model may be selected via a user input and/or via a pre-programmed selection that may be based on a parameter (e.g., a type, a requested interaction) of the entertainment figure. In another example, the entertainment figure may include an identifier, such as a serial number, a quick response code, a name, another identifying information, or any combination, and the model associated with the entertainment figure may include a corresponding identifier that a device (e.g., a mobile device) may identify. The device may then transmit the data (e.g., to the control system) that includes the identifier of the entertainment figure to enable the identifier of the entertainment figure to be matched with a suitable model to select a correctly associated model.

The model may have one or more vertices. At block274, a positioning (e.g., position and/or orientation) of one of the vertices of the model is identified. In an embodiment, the positioning of the vertex may be relative to at least one other vertex of the model or any other suitable part of the model. In an additional or alternative embodiment, the positioning of the vertex may be an absolute positioning within a virtual space, such as in relation to a virtual coordinate system associated with the virtual space. Indeed, the positioning of the vertex may include any suitable arrangement of the vertex in the virtual space of the model. For a model having a single image, the particular positioning of the vertices for the single image may be determined. For a model having multiple images (e.g., each having different respective positionings of the vertices), a change in positioning of the vertices may be monitored or tracked.

At block276, a connection location of the entertainment figure associated with the vertex of the model is identified, and a target positioning of the connection location is determined based on the positioning of the vertex. That is, the arrangement of the vertex in the virtual space of the model is associated with a corresponding positioning of the connection location in a physical space of the entertainment figure, and the corresponding positioning is set as the target positioning. In one embodiment, the target positioning of the connection location may be relative to at least one other connection location of the entertainment figure or any other suitable part of the entertainment figure. In an additional or alternative embodiment, the target positioning of the connection location may be an absolute positioning within the physical space, such as in relation to a physical coordinate system associated with the physical space. In any case, the target positioning of the connection location in the physical space may be suitably determined based on the positioning of the vertex in the virtual space.

At block278, the actuating system is controlled to set the current positioning of the connection location based on the determined target positioning of the connection location. As an example, the actuating system may be controlled to move the connection location such that the current positioning (e.g., as determined by a sensor) of the connection location substantially matches with the target positioning of the connection location. In this way, the current positioning of the connection location may be associated with the positioning of the vertex. For instance, the current positioning of the connection location in the physical space substantially matches with the positioning of the vertex in the virtual space.

Furthermore, as the vertex moves, such as based on multiple images representing realistic animation of the model of the entertainment figure, subsequent target positionings of the connection location may be determined, and the actuating system may continue to be controlled to set the positioning of the connection location based on the target positionings. In this manner, movement of the connection location generally tracks the movement of the vertex, and blocks274through278may continuously be performed over time (e.g., to various positions to create a show, such as a facial expression or series of facial expressions over time). Further still, blocks274through278may be performed for each suitable vertex of the model and corresponding connection location to align multiple connection locations of the entertainment figure with corresponding vertices of the model. As such, an overall arrangement of the entertainment figure may substantially match with an overall arrangement of the model of the entertainment figure (e.g., over time). Since the model of the entertainment figure has a realistic appearance and/or movement, the control of the entertainment figure to match the model of the entertainment figure may therefore provide a more realistic presentation of the entertainment figure.

It should be noted that various features discussed with respect toFIGS.1-7may be combined in an embodiment. For instance, an embodiment of the entertainment figure may include any combination of the actuator types described with respect toFIGS.4-6. In addition, other actuator types may be utilized, including pneumatic or hydraulic bladder systems, in order to enable movement of the connection locations. In any case, the control system may control any of the actuator types described above based on a retrieved digital model, such as various vertices of the digital model. Moreover, in an embodiment, rather than being coupled to and moving various connection locations, the actuators may slide underneath the layer of the entertainment figure to produce other effects, such as bone or muscular movement underneath skin. Further still, although the present disclosure primarily discusses automatically controlling the actuating system based on a stored entertainment model, the actuating system may additionally or alternative be manually controllable. In an example, the control system may receive user input that indicates direct movement of the actuating system. In another example, the user input may indicate movement of the entertainment figure model, and the control system may control the actuating system to move the entertainment figure based on the user input causing movement of the entertainment figure model. In a further example, parts of the actuating system (e.g., the extensions158ofFIG.3) may be physically accessible by a user (e.g., external to the entertainment figure), and the user may physically cause movement of the entertainment figure (e.g., manual puppeteering).