Real-Time Reactive Biped Characters: Staying Upright and Balanced

Ben Kenwright*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish
Title of host publicationTransactions on Computational Science XVIII
EditorsMarina L. Gavrilova, C. J. Kenneth Tan, Arjan Kuijper
Number of pages17
ISBN (Electronic)9783642388033
ISBN (Print)9783642388026
Publication statusPublished - 2013

Publication series

NameLecture Notes in Computer Science
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


  • animation
  • balancing
  • biped
  • foot placement
  • in-verted pendulum
  • inverse kinematics
  • reactive
  • Real-time
  • stepping

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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