Modeling Balance Maintenance with Whole-body Motion Based on Observation of Human Motion

Recently, interest in generating dynamically consistent motion of human-like characters has been increasing in various areas. In particular, balance maintenance against perturbation caused by external force is an indispensable problem when we consider motion under a practical situation. Humans maintain their balance against sudden perturbation by large-scale whole-body motion, such as bending down, rotating their arms, squatting down, taking a step, and so on. We have proposed a method to generate motion of maintaining balance with an appropriate whole-body motion against various perturbation by observing the human motion and modeling it. In this paper, we compare the generated motion by the method with human motion, and discuss the validity of our method. As the result, we can see that our method represents not only apparent characteristics of human motion but also dynamics characterisitics of it.