We implement a framework for developing interactive characters by combining kinematic animation with physical simulation. The combination of animation techniques allows the characters to exploit the advantages of each technique. For example, characters can perform natural-looking kinematic gaits and react dynamically to unexpected situations. Kinematic techniques such as those based on motion capture data can create very natural-looking animation. However, motion capture based techniques are

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... suitable for modeling the complex interactions between dynamically interacting characters. Physical simulation, on the other hand, is well suited for such tasks. Our work develops kinematic and dynamic controllers for interactive character animation, leveraging the advantages of both classes of techniques.