Animatronic Servo Choreographer

Show Control

Loop show

Playback speed 1.00×

Motion profile

Live Readouts

Show time0.00 / 4.00 s

Peak joint velocity0.0 °/s

Peak joint accel.0.0 °/s²

How it works

Three independent "servo channels" — neck pan, jaw, and eyebrow tilt — each step through a loop of keyframe angles. Instead of jumping straight from one angle to the next, each channel is driven through a time-scaling function s(u) that maps segment progress u ∈ [0,1] to a smooth interpolation fraction:

θ(t) = θ_i + (θ_i+1 − θ_i) · s(u)

Linear:      s(u) = u
Trapezoidal: constant accel / constant velocity / constant decel
             (25% / 50% / 25% split of the segment)
Quintic:     s(u) = 10u³ − 15u⁴ + 6u⁵   (minimum-jerk)

The quintic form is the standard "S-curve" used in real animatronic and industrial-servo motion controllers: its velocity ds/du = 30u²−60u³+30u⁴ starts and ends at exactly zero, so the joint never has to instantly start or stop moving. That keeps peak jerk low, which is what makes servo-driven motion read as lifelike rather than mechanical, and reduces wear on the gear train. The trapezoidal profile is the classic industrial compromise — cheap to compute, bounded acceleration, but a velocity discontinuity at each phase change. Linear has neither: velocity jumps instantly at every keyframe, which is why it looks the most robotic here.

Motion profile — swap the time-scaling function live and watch the same keyframes produce a different feel.
Playback speed — scales the show clock; peak velocity/acceleration scale with it too (v ∝ speed, a ∝ speed²).
Peak velocity / acceleration — the largest |dθ/dt| and |d²θ/dt²| measured across all three channels since the show last restarted or looped.

Neck pan (Y) Jaw (X hinge) Eyebrows (Z tilt)

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