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 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