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