Dynamic Balance Control Following Disturbance of Virtual Humans

Subject to disturbance, a human can carry out many balance strategies, changing its posture. Virtual human animation is a challenging problem. In the present paper, we introduce a new dynamic balance control of virtual humans with multiple non coplanar frictional contacts. We formulate a constrained optimization problem (Quadratic Programming). Our virtual human can autonomously manage its balance without following imposed trajectories, in all kind of environments (floor, stairway) while being disturbed by external forces. In contrast to classical methods based on ZMP, it can use its hands to keep its balance by pressing an inclined wall. In every case, it fits its posture to ensure the best balance.

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