Robotic creature and method of operation

Abstract

A robotic creature system includes an actuatable head defining eyes, an eyelid mechanism, a body, a drivetrain, and a set of sensors. A method for robotic creature operation includes: detecting an event associated with a technological imperfection and automatically performing a set of expressive actions associated with the event.

We claim: 
     
         1 . An eyelid mechanism of a robotic creature, the eyelid mechanism comprising:
 an eyelid piece, the eyelid piece comprising:
 a first lid section arranged posterior to a first eye aperture of the robotic creature, the first lid section comprising:
 a first upper lid; 
 a first lower lid statically connected to the first upper lid; 
 a first tinted film segment arranged between the first upper lid and the first lower lid; 
 
 a second lid section arranged posterior to a second eye aperture of the robotic creature, the second lid section comprising:
 a second upper lid; 
 a second lower lid statically connected to the second upper lid; 
 a second tinted film segment arranged between the second upper lid and the second lower lid; 
 
   wherein the first lid section is statically connected to the second lid section;   a lid drive mechanism connected to the eyelid piece, the lid drive mechanism comprising:
 a motor arranged above the eyelid piece; 
 a two-bar linkage comprising a first end connected to the motor and a second end connected to the eyelid piece; 
   
       wherein the eyelid mechanism is operable between:
 a raised position, wherein the first upper lid and the second upper lid are fully obscured from view through the first and second eye apertures, respectively; 
 a lowered position, wherein the first lower lid and the second lower lid are fully obscured from view through the first and second eye apertures, respectively; 
 an open-eye position, wherein the first upper lid and the first lower lid are fully obscured from view through the first eye aperture, and the second upper lid and the second lower lid are fully obscured from view through the second eye aperture; and 
 a closed-eye position, wherein the first tinted film segment and the first lower lid are fully obscured from view through the first eye aperture, and the second tinted film segment and the second lower lid are fully obscured from view through the second eye aperture. 
 
     
     
         2 . The eyelid mechanism of  claim 1 , wherein the first lower lid is statically connected to the first upper lid by a frame, further wherein the second end of the two-bar linkage is connected to the frame. 
     
     
         3 . The eyelid mechanism of  claim 1 , wherein:
 each of the first upper lid and the second upper lid define a concave edge; and   each of the first lower lid and the second lower lid define a convex edge.   
     
     
         4 . The eyelid mechanism of  claim 1 , wherein the eyelid mechanism is mounted to a head tilt chassis of the robotic creature. 
     
     
         5 . The eyelid mechanism of  claim 1 , wherein a length of the first tinted film segment is at least equal to a diameter of the first eye aperture. 
     
     
         6 . The eyelid mechanism of  claim 1 , wherein the first tinted film segment is statically mounted to the first upper lid and the first lower lid. 
     
     
         7 . A robotic system, the robotic system comprising:
 a head defining an eye aperture;   an eyelid mechanism comprising an eyelid piece arranged posterior to the eye aperture, the eyelid piece comprising:
 an upper lid; 
 a lower lid statically connected to the upper lid; 
 a tinted film segment arranged between the upper lid and the lower lid; 
   a motor arranged above the eyelid piece; and   a two-bar linkage comprising a first end connected to the motor and a second end connected to the eyelid piece.   
     
     
         8 . The robotic system of  claim 7 , further comprising a control system electrically connected to the motor, the control system configured to operate the eyelid mechanism between:
 a raised position, wherein the upper lid is fully obscured from view through the eye aperture;   a lowered position, wherein the lower lid is fully obscured from view through the eye aperture;   an open-eye position, wherein the upper lid and the lower lid are fully obscured from view through the eye aperture; and   a closed-eye position, wherein the tinted film segment and the lower lid are fully obscured from view through the eye aperture.   
     
     
         9 . The robotic system of  claim 7 , wherein:
 the eye aperture has an aperture diameter;   the tinted film segment has a tinted film length extending between the upper lid and the lower lid, wherein the tinted film length is not less than the aperture diameter.   
     
     
         10 . The robotic system of  claim 9 , wherein the tinted film segment is statically mounted to the upper lid and the lower lid. 
     
     
         11 . The robotic system of  claim 7 , wherein the upper lid defines a concave edge. 
     
     
         12 . The robotic system of  claim 7 , wherein the lower lid defines a convex edge. 
     
     
         13 . The robotic system of  claim 12 , wherein the upper lid defines a concave edge proximal the lower lid. 
     
     
         14 . The system of  claim 7 , further comprising:
 an eye socket posterior to the eye aperture; and   a camera arranged in the eye socket.   
     
     
         15 . The robotic system of  claim 14 , wherein the camera is arranged with a bias toward an upper distal quadrant of the eye aperture. 
     
     
         16 . The robotic system of  claim 14 , wherein the eye socket comprises a blackout painted surface. 
     
     
         17 . The robotic system of  claim 7 , further comprising a head tilt chassis arranged in the head, wherein the eyelid mechanism is mounted to the head tilt chassis. 
     
     
         18 . The robotic system of  claim 7 , wherein the motor comprises a brushed DC motor. 
     
     
         19 . The robotic system of  claim 7 , further comprising a second eyelid mechanism, the second eyelid mechanism comprising a second eyelid piece arranged posterior to a second eye aperture of the robotic system, the second eyelid piece comprising:
 a second upper lid;   a second lower lid statically connected to the second upper lid; and   a second tinted film segment arranged between the second upper lid and the second lower lid.   
     
     
         20 . The robotic system of  claim 19 , wherein the second eyelid mechanism is statically connected to the first eyelid mechanism by a frame, wherein the first and second eyelid mechanisms are both actuatably connected to the motor.