Oscillation mitigation for animated figures

A control system for an animated figure, the control system comprising:

• a plurality of inertial measurement units (IMUs), each configured to measure one or more motion parameters at a location on the animated figure;
• a first actuator configured to rotate or translate the animated figure with respect to a first axis;
• and
• a controller communicatively coupled to the plurality of IMUs and the first actuator, wherein the controller is configured to:
• determine a first set of offset factors for the first actuator based on a first subset of the one or more motion parameters;
• and
• operate the first actuator based on the first set of offset factors to apply a force opposing oscillation of the animated figure.

A method, comprising:

• receiving, via a controller, an initial motion profile for operating one or more actuators;
• receiving, via the controller, sensor data corresponding to a plurality of inertial measurement unit (IMU) channels from a plurality of IMUs coupled to an animated figure;
• solving, via the controller, a respective plurality of differential equations describing oscillation of the animated figure based on the sensor data for each IMU channel;
• deriving, via the controller, a set of offset factors for each actuator of the one or more actuators based on solutions to the plurality of differential equations;
• adjusting, via the controller, the initial motion profile based on the offset factors for each actuator to produce an adjusted motion profile;
• and
• transmitting, via the controller, command signals to each actuator based on the adjusted motion profile.