Physical Simulation of Balance Recovery after a Push

Our goal is to simulate how humans recover balance after external perturbation, e.g., being pushed. While different strategies can be adopted to achieve balance recovery, we particularly aim at replicating how humans combine the control of their support area with the control of their body movement to regain balance when it is necessary. We develop a physics-based approach to simulate balance recovery, with two main contributions to achieve our goal: a foot control technique to adjust the shape of a character's support zone to the motion of its center of mass (CoM), and the dynamic control of the CoM to maintain its vertical projection in this same zone. We also calibrate the simulation by optimisation, before validating our results against experimental data.