Real-Time Reactive Biped Characters: Staying Upright and Balanced

In this paper, we present a real-time technique of generating reactive balancing biped character motions for used in time critical systems, such as games. Our method uses a low-dimensional physics-based model to provide key information, such as foot placement and postural location, to control the movement of a fully articulated virtual skeleton. Furthermore, our technique uses numerous approximation techniques, such as comfort reasoning and foot support area, to mimic real-world humans in real-time that can respond to disturbances, such as pushes or pulls. We demonstrate the straightforwardness and robustness of our technique by means of a numerous of simulation examples.