Stepping Motion for a Human-like Character to Maintain Balance against Large Perturbations

— 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 aining 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.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Shunsuke Kudoh, Taku Komura, Katsushi Ikeuchi
• Keywords: Active Whole-body Motion, ICRA 2006, Motions Aining Balance, Robotics, Whole-body Motion