@inproceedings{21d491129b3f4f47bf407e09c07db48f,
title = "Real-Time Reactive Biped Characters: Staying Upright and Balanced",
abstract = "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.",
keywords = "animation, balancing, biped, foot placement, in-verted pendulum, inverse kinematics, reactive, Real-time, stepping",
author = "Ben Kenwright",
year = "2013",
doi = "10.1007/978-3-642-38803-3-9",
language = "English",
isbn = "9783642388026",
series = "Lecture Notes in Computer Science",
publisher = "Springer",
pages = "155--171",
editor = "Gavrilova, {Marina L.} and Tan, {C. J. Kenneth} and Arjan Kuijper",
booktitle = "Transactions on Computational Science XVIII",
}