Balance Maintenance by Stepping for Human-like Characters against Large Perturbation

Shunsuke Kudoh, Taku Komura, Katsushi Ikeuchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We propose a method of balance maintenance for human-like characters
against large perturbations. The motions that can be generated by the
method enable a human-like character to maintain its balance rotating its arms,
bending down and taking a step, if necessary. The former two motions are intended
to control angular momentum effectively, and the method to generate
these motions was proposed in our previous research. In this paper, we extend
that method to allow the character to take a step if perturbation is too large
for the character to otherwise keep its balance. For modeling stepping motion,
we captured many human stepping motions by a motion capturing system and
analyzed them.
Original languageEnglish
Title of host publication10th International Conference on Virtual Systems and Multimedia (VSMM2004)
Number of pages10
Publication statusPublished - Nov 2004

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