In this paper, we propose a new method to generate reactive motions for arbitrary external perturbations such as
pushing, pulling, or hitting. The method can be applied to motions with arbitrary contact states such as standing, walking
or running, and works as follows. First a number of reactive motions of humans are captured by pushing and pulling
a person to various directions. These motions are kept in the motion database. The user will then import some captured
motion data to be used as a primary motion. At an arbitrarymoment, when an external perturbation is applied to the
body it is transformed and modeled as an effective increase in the linear momentum and angular momentum around the
center of mass (COM). At the same time, a counteracting motion will be searched in the database to be blended into
the primary motion.
Any suggestions or comments are welcome. Please send them to Dr. Taku Komura.
Last updated: 27 June 2005