work of [16, 5, 30, 35] is a good survey of recent techniques aimed at making the most flexible use of existing motion-capture and keyframe data. The advantages of motion capture are obvious: the immediate generation of realistic human motions. However, motion capture does not provide us with sufficient understanding to create more general walking motions, especially when conditions are unpredictable, when new motions need to be generated, or when dealing with non-human characters. Developing

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... thods to control physical simulations can potentially provide us with a more general tool, and it is therefore the modeling paradigm we adopt. character is thus able to follow desired paths specified by the animator. We gratefully acknowledge the financial support of our research by ITRC (Ontario) and NSERC (Canada). The ongoing benevolence of Alias|Wavefront to our graphics lab is also appreciated.