reference throughout this specification to “ one embodiment ,” “ an embodiment ,” or similar language means that a particular feature , structure , or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention . thus , appearances of the phrases “ in one embodiment ,” “ in an embodiment ,” and similar language throughout this specification may , but do not necessarily , all refer to the same embodiment . furthermore , the described features , structures , or characteristics of the invention may be combined in any suitable manner in one or more embodiments . in the following description , numerous specific details are provided , such as examples of mechanical linkages , actuator types and configurations , etc ., to provide a thorough understanding of embodiments of the invention . one skilled in the relevant art will recognize , however , that the invention can be practiced without one or more of the specific details , or with other methods , components , materials , and so forth . in other instances , well - known structures , materials , or operations are not shown or described in detail to avoid obscuring aspects of the invention . fig1 is a side view illustration depicting one embodiment of a roping practice system 100 of the present invention . the depicted roping practice system 100 includes a frame 110 , an animal shaped head 120 , a neck member 130 , a neck swivel joint 140 , one or more neck actuators 150 , a controller 160 , a controller interface 170 , and a control device 180 . the head 120 may include a mechanism to mount interchangeable horns the frame 110 supports the weight of an animated head mechanism and provides stability for the system as the head 120 moves . the frame 110 may be connected to a base or platform ( not shown ). in the depicted embodiment the frame 110 is formed in the shape of a steer body . in another embodiment , the frame 110 may include features for attachment to a vehicle . in one embodiment , the frame 110 includes tines that may be anchored into bales of hay or straw . the neck member 130 is shown attached to the frame 110 with a neck swivel joint 140 such as a ball and socket joint . the neck member 130 and neck actuators 150 may be covered with a pad that simulates the shape of an animal neck and protects the mechanism . the neck member 130 is moved in an arc about the neck swivel joint 140 by one or more neck actuators 150 that are connected at one end to the frame 110 and at the other end to the neck member 130 . as one of the neck actuators 150 extends or contracts in response to controller 160 commands , the neck member 130 moves in an arc about the neck swivel joint 140 . for example , as a neck actuator 150 attached directly below the neck swivel joint 140 is extended , the head moves upward in an arc about the neck swivel joint 140 . as one or more neck actuators 150 extend and contract , forces are created that move the head to a selected pitch and yaw angle within the limits of the neck swivel joint 140 movement . in one embodiment the length of the neck member 130 is adjustable . the neck member 130 is attached to the head 120 with a head swiveljoint . in the depicted embodiment , the head swivel joint and head actuators are located within the head 120 and are not shown in this view . the head 120 is moved in an arc about the head swivel joint by one or more head actuators that are connected at one end to the neck member 130 , and at the other end to the head 120 . as a head actuator expands or contracts as commanded by the controller 160 , the head 120 moves in an arc about the head swivel joint . the head 120 may thus attain a selected pitch or yaw within the limits of the head swivel joint movement . in one embodiment , the head 120 is attached to the head swiveljoint by a rotational bearing such that the head 120 may rotate axially either clockwise and counterclockwise . a rotor actuator ( not shown ) provides torque to rotate the head 120 under the control of the controller 160 . in one embodiment , the head 120 is removable , and may be replaced by an interchangeable head from a different breed or even a different species of animal . for example , by replacing a bovine shaped head with an equine shaped head and adjusting the length of the neck member 130 , the roping practice system 100 may be utilized to practice roping horses . in one embodiment , a bovine shaped head 120 includes mechanisms to attach horns 190 of different lengths and configurations . the system may thus be configured to imitate physical characteristics of various breeds of steers . the controller 160 provides control of the neck actuators 140 and head actuators ( not shown ) which move the neck member 130 and the head 120 about their respective swivel joints . additionally , in certain embodiments the controller may provide control of a rotor actuator ( not shown ) that axially rotates the head 120 . in one embodiment , the controller is equipped with a memory function that provides storage of actuator control sequences that create characteristic movements of the head 120 . in one embodiment , the controller 160 is programmed with command sequences received via the controller interface 170 . in the depicted embodiment a control device 180 connected directly to the controller interface 170 permits the user to program the controller 160 with actuator control sequences . in other embodiments , the controller interface 170 may be a wireless interface that enables communication with a wireless controller such as remote control device . in one embodiment , the control device 180 may directly control the actuator sequences that move the head 120 and neck member 130 . by controlling the head and neck movements , the roping practice system 100 may be configured to imitate the movements of various breeds of steers or even other animal species . additionally , the roping practice system 100 may be configured for competition between a contestant controlling the animated head and a contestant roping the head . fig2 through 4 are illustrations depicting one embodiment of a head actuation assembly 200 of the present invention . fig2 depicts a side view illustration of the animated head mechanism 200 while fig3 and 4 depict , respectively , a top view illustration and a front view illustration . the depicted head actuation mechanism 200 includes a frame 110 , a neck member 130 , a neck swivel joint 140 , one or more neck actuators 150 , a controller 160 , a head swivel joint 210 , a head swivel plate 220 , one or more head actuators 230 , a rotor plate 240 , a rotor bearing 250 , a rotor actuator 260 , a belt 270 , and a rotor actuator shaft 280 . to promote clarity , the animal shaped head 120 , which frames to the rotor plate 240 , is not shown in fig2 through 4 . the neck member 130 is attached to the frame 110 by a neck swivel joint 140 . the neck swivel joint 140 permits movement of the head attachment end of the neck member 130 in an arc about the neck swivel joint 140 in the vertical and horizontal planes . one or more neck actuators 150 are attached at one end to the neck member 130 and are attached at the other end to the frame 110 . extension or contraction of a neck actuator 150 moves the neck member 130 in an arc about the neck swivel joint 140 . in one embodiment the neck actuators 150 are hydraulic actuators . in another embodiment , the neck actuators 150 are pneumatic actuators while in another embodiment , the neck actuators 150 are electric actuators . the electric actuators may comprise soloroids or dc motors and may be powered by a battery or with a transformer configured to be connected to an ac power source . in one embodiment , a pair of neck actuators 150 ( shown in fig3 ) attach at one end to the neck member 130 and at the other end to the frame 110 inline with the neck swivel joint 140 along a horizontal plane . extension of an actuator 150 coupled with the contraction of the opposing actuator 150 moves the head attachment end of the neck member 130 through an arc about the neck swivel joint 140 in the horizontal plane and produces a change in yaw angle between the neck member 130 and a vertical plane passing through the neck swivel joint 140 . in one embodiment , a neck actuator 150 ( shown in fig2 ) attaches at one end to the neck member 130 and at the other end to the frame 110 , and is located inline with the neck swivel joint 140 along a vertical plane . extension and contraction of the neck actuator 150 moves the head attachment end of the neck member 130 through an arc about the neck swivel joint 140 in the vertical plane and produces a change in pitch angle between the neck member 130 and the horizontal plane passing through the swivel joint 140 . the head swivel plate 220 is attached to the neck member 130 by the head swivel joint 210 . the head swivel joint 210 permits movement of the head swivel plate 220 through an arc about the head swivel joint 210 in the vertical and horizontal planes . one or more head actuators 230 are attached at one end to the neck member 130 and at the other end to the head swivel plate 220 . extension of a head actuator 230 coupled with contraction of an opposing head actuator 230 moves the neck swivel plate 220 in an arc about the neck swivel joint 210 . in one embodiment , four head actuators 150 attach at one end to the neck member 130 and the head actuators 150 are attached at equal angles about the axis of the neck member 130 . the head actuators 150 also attach at the other end to the head swivel plate 220 at equal angles about the axis of the head swivel plate 220 . extension of a head actuator 150 and compression of an opposing head actuator 150 moves the head swivel plate 220 in an arc about the head swivel joint 210 and changes the pitch and yaw angles between axis of the neck member 130 and the axis of the head swivel plate 220 . in one embodiment , the rotor plate 240 is attached to the head swivel plate 220 by the rotor bearing 250 such that the rotor plate 240 may rotate freely about the center of the head swivel plate 220 . the rotor plate 240 periphery may be grooved such that a belt 270 ( shown in fig4 ) may be retained within the groove . the rotor actuator 260 is a rotary actuator that translates a controller command into movement of the rotor actuator shaft 280 through a selected rotation angle . a sequence of controller commands may cause the rotor actuator shaft 280 to complete one or more revolutions in the clockwise or counterclockwise direction . the rotor actuator shaft 280 contacts the belt 270 such that the rotary motion of the rotor actuator shaft 280 is translated to tension in the belt 270 . the tension of the belt 270 creates a torque on rotor plate 240 and thus turns the rotor plate 240 about the rotor bearing 250 . the rotor actuator shaft 280 and the mating belt 270 may be provided with matching teeth to facilitate transmission of motion between the rotor actuator shaft 280 and the belt 270 . in one embodiment , the rotor plate 240 contains a gear pattern about its periphery and the rotor actuator shaft 280 contains a matching gear pattern that couples rotation of the rotor actuator shaft 280 to the rotor plate 240 , causing rotation of the rotor plate 240 about the rotor bearing 250 . the controller 160 issues commands that cause clockwise and counterclockwise rotation of the rotor actuator shaft 280 . the rotation is transmitted to the rotor plate 240 , which rotates the attached animal shaped head 120 . fig5 is a diagram illustrating a front view of one embodiment of an animated head 500 of the present invention . the depicted embodiment of the animated head 500 includes a frame 110 , an animal shaped head 120 , and a set of horns 190 . head rotation 510 , vertical head movement 520 , and horizontal head movement 530 are illustrated with arrows . the animated head 500 provides superior head animation that improves the quality and realism of roping practice . head rotation 510 may be provided by actuating the rotor actuator 260 , rotating the animal shaped head 120 about the axis of the rotor plate 240 in either a clockwise or a counterclockwise direction . the degree of rotation is programmatically controlled by a sequence of actuator commands stored in the controller 160 or directly controlled by input from the control device 180 . horizontal head movement 520 may be provided by actuating one or more neck actuators 150 , moving the animal shaped head 120 around the neck swiveljoint 140 in a horizontal arc with radius defined by the length of the neck member 130 . additionally , horizontal head movement 520 may be provided by actuating one or more head actuators 230 , moving the animal shaped head 120 around the head swivel joint 210 in a horizontal arc with radius defined by the distance between the head swivel joint 210 and the point of measurement on the animal shaped head 120 . the degree of horizontal head movement 520 is programmatically controlled by a sequence of actuator commands stored in the controller 160 or directly controlled by input from the control device 180 . vertical head movement 530 may be provided by actuating one or more neck actuators 150 , moving the head 120 around the neck swivel joint 140 in a vertical arc with radius defined by the length of the neck member 130 . additionally , vertical head movement 530 may be provided by actuating one or more head actuators 230 , moving the head 120 around the head swivel joint 210 in a vertical arc with radius defined by the distance between the head swivel joint 210 and the point of measurement on the head 120 . the degree of vertical head movement 530 is programmatically controlled by a sequence of actuator commands stored in the controller 160 or directly controlled by input from the control device 180 . head rotation 510 , vertical head movement 520 about the neck swivel joint 140 , vertical head movement 520 about the head swiveljoint 210 , horizontal head movement 530 about the neck swivel joint 140 , and horizontal head movement 530 about the head swivel joint 210 may be individually or simultaneously applied . the motions of the animated head may be selected to closely approximate movements of a live animal , permitting a roper to gain valuable experience in an efficient manner . fig6 is a top view illustration depicting one embodiment of a control device 600 of the present invention . as depicted , the control device 600 includes an on / off button 610 , a program mode button 620 , a head manipulator 630 , a neck manipulator 640 , a head rotator 650 , a speed selector 660 , a review button 670 , and a next button 680 . the control device 600 is a particular example of the control device 180 depicted in fig1 and may be in electrical communication with the controller 160 or in wireless communication with the controller 160 . the control device 600 communicates with a controller of a mechanical animal and enables a user to move the head and neck of the mechanical animal and store such movements as programmed sequences . the on / off button 610 enables a user to turn the control device 600 on or off . the on / off button may also enable a user to activate or deactivate the mechanical animal . the program mode button 620 toggles operation between a direct control mode and a program mode . while in the direct control mode , the user may directly manipulate the mechanical animal with the control device 600 or activate programmed sequences . the control elements 630 , 640 , 650 , and 660 may operate in program mode or in direct control mode and enable a user to move the head and neck of the mechanical animal and store such movements as programmed sequences . the head manipulator 630 , neck manipulator 640 , and head rotator 650 enable a user to move the head and neck to specific positions or orientations . the speed selector 660 enables a user to speed up or slow down the pace of movement . the review button 670 facilitates reviewing the current program while in program mode or a selected program while in direct control mode . the next button 680 records a program step ( i . e . orientation of the head and neck ) in program mode . in direct control mode , the next button facilitates scrolling through program sequences stored in memory . in one embodiment , the control device 600 is equipped with a display screen that displays a program sequence name . fig7 is a schematic flow chart illustrating one embodiment of a programming method 700 in accordance with the present invention . as depicted , the programming method 700 is collection of event driven actions that enable a user to capture and review animations sequences created with a control device such as the control device 600 . the programming method 700 may be conducted independent of , or conjunction with the control device 600 and the controller 160 . the method 700 starts after the control device 600 or the like is attached to the controller interface 170 and the program mode button is depressed indicating a desire to program the mechanical animal . subsequently , the user positions the head and neck by manipulating one or more control elements associated with the control device 180 . a positioning event 710 is detected by the controller which moves 715 the head and neck to a selected position and orientation in response to the manipulations of the control elements . while orienting the head and neck the user may adjust a speed control to change the pace of movement and responsiveness to manipulation of the control elements . in response to such a change , the speed adjustment event 720 is detected by the controller which adjusts 725 the speed of movement of the head and neck by the actuators . while orienting the head and neck the user may desire to review the current program to ascertain if the current orientation and animation speed are satisfactory within the context of the current program sequence . the user may depress the review button 670 or similar interface element which is detected as a review sequence event 730 . in response to event 730 , the controller animates 735 the head with the current program sequence including the current orientation . the user may continue adjusting the current head and neck orientation and animation speed in the manner described above . once the user is satisfied with the current settings , the user may depress the next button 680 or similar interface element to invoke the next position event 740 . in response to the next position event 740 , the controller captures 745 the current head and neck orientation as well as animation speed and appends such information onto the current program . in one embodiment , the pitch angle , yaw angle , and rotation of the neck member 130 and the head 120 are captured by storing the neck actuator 150 , head actuator 230 , and rotor actuator 260 positions into a memory element in the controller 160 . to end a programming session the user may deselect the program mode button 620 or perform a similar action to invoke the training complete event 750 . in response to the training complete event 750 , the controller saves 760 the current program sequence for subsequent use and the programming method ends 770 . the present invention may be embodied in other specific forms without departing from its spirit or essential characteristics . the described embodiments are to be considered in all respects only as illustrative and not restrictive . the scope of the invention is , therefore , indicated by the appended claims rather than by the foregoing description . all changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope .
an apparatus and system for roping practice incorporating an animal shaped head configured to simulate the movements of a live animal . the apparatus includes a swivel joint at the base of the head and a swivel joint where the neck joins to the body , and includes actuators that independently move the neck and head to a specified pitch and yaw angle . additionally , the head may be attached to a rotor plate such that the head may rotate clockwise and counterclockwise . a programmable controller is included that may store actuator sequences that simulate real - time head and neck movements of live animals . the controller may be programmed by a control device that comprises one or more actuators such as joystick actuators , and the joystick actuators may directly control the animated head . the head may be removable and interchangeable , and may include removable horns to permit customization of the animated head for the physical characteristics and characteristic movements of a specific breed of animal .