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This paper describes the application of space time constraints to creating transitions between segments of human body motion. The motion transition generation uses a combination of spacetime constraints and inverse kinematic constraints to generate seamless and dynamically plausible transitions between motion segments. We use a fast recursive dynamics formulation which makes it possible to use spacetime constraints on systems with many degrees of freedom, such as human figures. The system usesdoi:10.1145/237170.237229 dblp:conf/siggraph/RoseGBC96 fatcat:lb5t3bt3snhenop6m7nfiytmoe