US Patent 11203122 Goal-based robot animation

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing goal-based robot animation. One system includes a robot configured to receive a goal that specifies a goal state to be attained by the robot or one of the components. A collection of animation tracks is searched to identify one or more animation tracks that when executed by the robot cause the robot to perform one or more physical movements to satisfy the goal state. The identified one or more animation tracks are executed to perform the one or more physical movements to satisfy the received goal state.