The motion of characters is one of the key subjects in the character animation. The making work of character's pose is very much depends on the skills of animators and is a very time consuming as well. The efficient system for supporting animators is requested. This motion generation system provides the functions of easy to use and time saving to make character animations. During the work of making poses in key frames, motion dynamics and kinematics are used for controlling the links of the whole body of a character at one operation. Forward kinematics and inverse kinematics are used in continuously for interpolating and optimizing the motions in between key frames.
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