Stepping motion for a human-like character to maintain balance against large perturbations

S. Kudoh, T. Komura, K. Ikeuchi

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


We propose a method of maintaining balance for a human-like character against large perturbations. The method enables a human-like model to maintain its balance with active whole-body motion, such as rotating its arms, bending down, and taking a step, if necessary. First, we capture the human motions of maintaining balance and abstract essential mechanisms from these motions. Next, we construct a model of maintaining balance that has a simple structure, such as an inverted pendulum. This model has two modes of maintaining balance: keeping the feet on the ground, and stepping. In this paper, the stepping mode is mainly described. Finally, we generate whole-body motion based on the model against several perturbations, and we discuss the validity of our method
Original languageEnglish
Title of host publicationRobotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)0-7803-9505-0
Publication statusPublished - 1 May 2006


  • humanoid robots
  • motion estimation
  • nonlinear control systems
  • pendulums
  • perturbation techniques
  • human-like character
  • inverted pendulum
  • large perturbations
  • maintaining balance
  • stepping motion
  • whole-body motion
  • Animation
  • Arm
  • Biological system modeling
  • Character generation
  • Computer graphics
  • Humanoid robots
  • Humans
  • Large-scale systems
  • Motion analysis
  • Robustness


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