Human character balancing motion generation based on a double inverted pendulum model

In this study, we propose a motion generation technique which generates natural motions based on a double inverted pendulum model (DIPM) and motion capture data (Mocap). While generating the motions, the proposed controller keeps the balance of the character. A DIPM uses a hip strategy to maintain the character's stability so that the zero moment point (ZMP) stays inside the support area, composed by the feet. The naturalness of the generated motion is inherited from mocap data by aligning the motion capture sequence with the DIPM. We match the DIPM with the motion capture data in order to satisfy both the character's stability and the naturalness. To validate the proposed motion generation technique, we use two kinds of motion capture data: a balancing motion under external forces and a grasping motion with a box.