Modeling and generating whole body motion of balance maintenance

Recently, many studies of generating dynamically consistent motion of human-like models have been made in several areas. A study of balance maintenance is one of the most important topics in these areas. In this paper, we describe how to model motion of balance maintenance by humans against sudden and large perturbation, along with a method for generating balance maintenance motion by a human-like model. A motion capturing system and force plates are used to obtain human motion, and the motion is used to confirm the proposed model and to determine parameters of the model for generating motion.