An introduction to splines for use in computer graphics & geometric modeling
An introduction to splines for use in computer graphics & geometric modeling
Radial basis functions for multivariable interpolation: a review
Algorithms for approximation
Advanced animation and rendering techniques
Advanced animation and rendering techniques
Image warping by radial basis functions: applications to facial expressions
CVGIP: Graphical Models and Image Processing
Multi-level direction of autonomous creatures for real-time virtual environments
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Fourier principles for emotion-based human figure animation
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Efficient generation of motion transitions using spacetime constraints
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Improv: a system for scripting interactive actors in virtual worlds
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
GI '96 Proceedings of the conference on Graphics interface '96
Adapting simulated behaviors for new characters
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
A high-level control mechanism for human locomotion based on parametric frame space interpolation
Proceedings of the Eurographics workshop on Computer animation and simulation '96
Computational modeling for the computer animation of legged figures
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
Real Time Responsive Animation with Personality
IEEE Transactions on Visualization and Computer Graphics
Image Warping with Scattered Data Interpolation
IEEE Computer Graphics and Applications
Interpolation Synthesis for Articulated Figure Motion
VRAIS '97 Proceedings of the 1997 Virtual Reality Annual International Symposium (VRAIS '97)
Physically based motion transformation
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
A hierarchical approach to interactive motion editing for human-like figures
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Solve customers' problems: interactive evolution for tinkering with computer animation
SAC '00 Proceedings of the 2000 ACM symposium on Applied computing - Volume 1
Motivation driven learning for interactive synthetic characters
AGENTS '00 Proceedings of the fourth international conference on Autonomous agents
Tournament selection for browsing temporal signals
SAC '00 Proceedings of the 2000 ACM symposium on Applied computing - Volume 2
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
The EMOTE model for effort and shape
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
BEAT: the Behavior Expression Animation Toolkit
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Simplicial families of drawings
Proceedings of the 14th annual ACM symposium on User interface software and technology
Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Footskate cleanup for motion capture editing
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
On-line locomotion generation based on motion blending
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Controlled animation of video sprites
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Synthesis of complex dynamic character motion from simple animations
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Integrated learning for interactive synthetic characters
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive control of avatars animated with human motion data
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Articulated body deformation from range scan data
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Learning style translation for the lines of a drawing
ACM Transactions on Graphics (TOG)
Behavioral Self-Organization in Lifelike Synthetic Agents
Autonomous Agents and Multi-Agent Systems
Planning biped locomotion using motion capture data and probabilistic roadmaps
ACM Transactions on Graphics (TOG)
An automatic modeling of human bodies from sizing parameters
I3D '03 Proceedings of the 2003 symposium on Interactive 3D graphics
Snap-together motion: assembling run-time animations
I3D '03 Proceedings of the 2003 symposium on Interactive 3D graphics
Learning in Character: Building Autonomous Animated Characters That Learn What They Ought to Learn
ICVS '01 Proceedings of the International Conference on Virtual Storytelling: Using Virtual Reality Technologies for Storytelling
ICVS '01 Proceedings of the International Conference on Virtual Storytelling: Using Virtual Reality Technologies for Storytelling
Motion Capture Data Manipulation and Reuse via B-splines
CAPTECH '98 Proceedings of the International Workshop on Modelling and Motion Capture Techniques for Virtual Environments
Communications of the ACM - A game experience in every application
An example-based approach for facial expression cloning
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Flexible automatic motion blending with registration curves
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Aesthetic edits for character animation
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Automated derivation of behavior vocabularies for autonomous humanoid motion
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
Rhythmic-motion synthesis based on motion-beat analysis
ACM SIGGRAPH 2003 Papers
Motion synthesis from annotations
ACM SIGGRAPH 2003 Papers
Implementation of a Motion Editing System
VSMM '01 Proceedings of the Seventh International Conference on Virtual Systems and Multimedia (VSMM'01)
Semantic Representation and Correspondence for State-Based Motion Transition
IEEE Transactions on Visualization and Computer Graphics
An example-based approach to human body manipulation
Graphical Models
The ANIMUS project: a framework for the creation of interactive creatures in immersed environments
Proceedings of the ACM symposium on Virtual reality software and technology
Style-based inverse kinematics
ACM SIGGRAPH 2004 Papers
Synthesizing animations of human manipulation tasks
ACM SIGGRAPH 2004 Papers
Automated extraction and parameterization of motions in large data sets
ACM SIGGRAPH 2004 Papers
System for authoring highly interactive, personality-rich interactive characters
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Evaluating motion graphs for character navigation
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Momentum-based parameterization of dynamic character motion
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Motion map: image-based retrieval and segmentation of motion data
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Synchronization for dynamic blending of motions
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Computing the duration of motion transitions: an empirical approach
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Automatic modeling of virtual humans and body clothing
Journal of Computer Science and Technology - Special issue on computer graphics and computer-aided design
Acquiring and validating motion qualities from live limb gestures
Graphical Models
Performance animation from low-dimensional control signals
ACM SIGGRAPH 2005 Papers
Geostatistical motion interpolation
ACM SIGGRAPH 2005 Papers
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
Style translation for human motion
ACM SIGGRAPH 2005 Papers
A data-driven approach to quantifying natural human motion
ACM SIGGRAPH 2005 Papers
Motion modeling for on-line locomotion synthesis
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Spatial keyframing for performance-driven animation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
AER: aesthetic exploration and refinement for expressive character animation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Analyzing the physical correctness of interpolated human motion
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Behavior planning for character animation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Fast and accurate goal-directed motion synthesis for crowds
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Trajectory synthesis by hierarchical spatio-temporal correspondence: comparison of different methods
APGV '05 Proceedings of the 2nd symposium on Applied perception in graphics and visualization
Real-time interactive motion transitions by a uniform posture map
Future Generation Computer Systems
Controllable real-time locomotion using mobility maps
GI '05 Proceedings of Graphics Interface 2005
Artistic resizing: a technique for rich scale-sensitive vector graphics
Proceedings of the 18th annual ACM symposium on User interface software and technology
Generating dance verbs and assisting computer choreography
Proceedings of the 13th annual ACM international conference on Multimedia
Human motion estimation from a reduced marker set
I3D '06 Proceedings of the 2006 symposium on Interactive 3D graphics and games
Knowing when to put your foot down
I3D '06 Proceedings of the 2006 symposium on Interactive 3D graphics and games
Hypercube sweeping algorithm for subsequence motion matching in large motion databases
Proceedings of the 2006 ACM international conference on Virtual reality continuum and its applications
Animation planning for virtual characters cooperation
ACM Transactions on Graphics (TOG)
Methods for exploring expressive stance
Graphical Models - Special issue on SCA 2004
Momentum-based parameterization of dynamic character motion
Graphical Models - Special issue on SCA 2004
Animal gaits from video: comparative studies
Graphical Models - Special issue on SCA 2004
Compression of motion capture databases
ACM SIGGRAPH 2006 Papers
GI '06 Proceedings of Graphics Interface 2006
Computational studies of human motion: part 1, tracking and motion synthesis
Foundations and Trends® in Computer Graphics and Vision
Implicit curve oriented inbetweening for motion animation
Proceedings of the 4th international conference on Computer graphics and interactive techniques in Australasia and Southeast Asia
Proceedings of the 2006 ACM SIGCHI international conference on Advances in computer entertainment technology
Dynamo: dynamic, data-driven character control with adjustable balance
Proceedings of the 2006 ACM SIGGRAPH symposium on Videogames
Spatial keyframing for performance-driven animation
ACM SIGGRAPH 2006 Courses
An example-based approach for facial expression cloning
ACM SIGGRAPH 2006 Courses
The just noticeable difference of transition durations
SIGGRAPH '05 ACM SIGGRAPH 2005 Posters
Motion templates for automatic classification and retrieval of motion capture data
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive animation of dynamic manipulation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Composition of complex optimal multi-character motions
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Fat graphs: constructing an interactive character with continuous controls
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Precomputed search trees: planning for interactive goal-driven animation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Automatic splicing for hand and body animations
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Tracking human motion and actions for interactive robots
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Proceedings of the 2007 symposium on Interactive 3D graphics and games
Quick transitions with cached multi-way blends
Proceedings of the 2007 symposium on Interactive 3D graphics and games
Graceful anytime interruptibility for virtual agents
Proceedings of the international conference on Advances in computer entertainment technology
Personality and Emotion-Based High-Level Control of Affective Story Characters
IEEE Transactions on Visualization and Computer Graphics
Guided time warping for motion editing
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Multifactor Gaussian process models for style-content separation
Proceedings of the 24th international conference on Machine learning
Active learning for real-time motion controllers
ACM SIGGRAPH 2007 papers
Constraint-based motion optimization using a statistical dynamic model
ACM SIGGRAPH 2007 papers
Construction and optimal search of interpolated motion graphs
ACM SIGGRAPH 2007 papers
Spatial keyframing for performance-driven animation
ACM SIGGRAPH 2007 courses
Synthesis and evaluation of linear motion transitions
ACM Transactions on Graphics (TOG)
ACM SIGGRAPH 2008 papers
Phase-based gesture motion parametrization and transitions for conversational agents with MPML3D
Proceedings of the 2nd international conference on INtelligent TEchnologies for interactive enterTAINment
Viewpoint determination of image by interpolation over sparse samples
Image and Vision Computing
ACM SIGGRAPH 2008 classes
Animation planning for virtual characters cooperation
ACM SIGGRAPH 2008 classes
Searching for Complex Human Activities with No Visual Examples
International Journal of Computer Vision
Detecting Affect from Non-stylised Body Motions
ACII '07 Proceedings of the 2nd international conference on Affective Computing and Intelligent Interaction
A Generative Model for Motion Synthesis and Blending Using Probability Density Estimation
AMDO '08 Proceedings of the 5th international conference on Articulated Motion and Deformable Objects
Predicting Missing Markers to Drive Real-Time Centre of Rotation Estimation
AMDO '08 Proceedings of the 5th international conference on Articulated Motion and Deformable Objects
Automatic Subspace Synthesis of Motion Styles Based on Isomap
ICIC '08 Proceedings of the 4th international conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications - with Aspects of Artificial Intelligence
Generalizing motion edits with Gaussian processes
ACM Transactions on Graphics (TOG)
An Efficient Wavelet-Based Framework for Articulated Human Motion Compression
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
Gesture recognition in flow based on PCA analysis using multiagent system
ACE '08 Proceedings of the 2008 International Conference on Advances in Computer Entertainment Technology
Flexible registration of human motion data with parameterized motion models
Proceedings of the 2009 symposium on Interactive 3D graphics and games
EDFCES: a new example-driven 3D face construction and editing system
Machine Graphics & Vision International Journal
E-Drama: Facilitating Online Role-play using an AI Actor and Emotionally Expressive Characters
International Journal of Artificial Intelligence in Education
Comparison of different gaits with rotation of the feet for a planar biped
Robotics and Autonomous Systems
Motion generation from MTM semantics
Computers in Industry
Achieving good connectivity in motion graphs
Graphical Models
Unsupervised hierarchical modeling of locomotion styles
ICML '09 Proceedings of the 26th Annual International Conference on Machine Learning
Learning Nonverbal Emotion Interaction In 3D Intelligent Virtual Environment For Children
Proceedings of the 2006 conference on Learning by Effective Utilization of Technologies: Facilitating Intercultural Understanding
Efficient and robust annotation of motion capture data
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Interactive synthesis of human-object interaction
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Interactive editing of motion style using drives and correlations
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Pose-timeline for propagating motion edits
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Interactive Demonstration of Pointing Gestures for Virtual Trainers
Proceedings of the 13th International Conference on Human-Computer Interaction. Part II: Novel Interaction Methods and Techniques
Motion Stroke-A Tablet-Based Interface for Motion Design Tool Using Drawing
Proceedings of the 13th International Conference on Human-Computer Interaction. Part II: Novel Interaction Methods and Techniques
Modeling spatial and temporal variation in motion data
ACM SIGGRAPH Asia 2009 papers
Real-time planning for parameterized human motion
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Interactive generation of human animation with deformable motion models
ACM Transactions on Graphics (TOG)
A layered brain architecture for synthetic creatures
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 2
Pen-to-mime: Pen-based interactive control of a human figure
Computers and Graphics
A Velocity-Curvature Space Approach for Walking Motions Analysis
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
Real-time interactive motion transitions by a uniform posture map
Future Generation Computer Systems
Synthesis and editing of personalized stylistic human motion
Proceedings of the 2010 ACM SIGGRAPH symposium on Interactive 3D Graphics and Games
Modeling animations of American Sign Language verbs through motion-capture of native ASL signers
ACM SIGACCESS Accessibility and Computing
A novel motion blending approach based on fuzzy clustering
PRICAI'06 Proceedings of the 9th Pacific Rim international conference on Artificial intelligence
Reuse of motion capture data in animation: a review
ICCSA'03 Proceedings of the 2003 international conference on Computational science and its applications: PartIII
A real-time natural motion edit by the uniform posture map algorithm
ICCSA'03 Proceedings of the 2003 international conference on Computational science and its applications: PartIII
ICCS'03 Proceedings of the 1st international conference on Computational science: PartI
LoD-based locomotion engine for game characters
Edutainment'07 Proceedings of the 2nd international conference on Technologies for e-learning and digital entertainment
Kinematic inbetweening for motion animation
Edutainment'07 Proceedings of the 2nd international conference on Technologies for e-learning and digital entertainment
Nonuniform segment-based compression of motion capture data
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part I
ACM SIGGRAPH 2010 papers
Tool for creation realistic animation of human-like figures: TRAF
EUROCAST'07 Proceedings of the 11th international conference on Computer aided systems theory
Space-time curve analogies for motion editing
GMP'08 Proceedings of the 5th international conference on Advances in geometric modeling and processing
Comparing and evaluating real time character engines for virtual environments
Presence: Teleoperators and Virtual Environments
A stylistic human motion editing system based on a subspace motion model
International Journal of Computer Applications in Technology
A script engine for realistic human motion generation
International Journal of Computer Applications in Technology
Bosu: a physical programmable design tool for transformability with soft mechanics
Proceedings of the 8th ACM Conference on Designing Interactive Systems
Modeling and synthesizing spatially inflected verbs for American sign language animations
Proceedings of the 12th international ACM SIGACCESS conference on Computers and accessibility
Automatic motion generation based on path editing from motion capture data
Transactions on edutainment IV
Interactive motion modeling and parameterization by direct demonstration
IVA'10 Proceedings of the 10th international conference on Intelligent virtual agents
Modeling style and variation in human motion
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Motion rings for interactive gait synthesis
I3D '11 Symposium on Interactive 3D Graphics and Games
Realtime human motion control with a small number of inertial sensors
I3D '11 Symposium on Interactive 3D Graphics and Games
Motion parameterization with inverse blending
MIG'10 Proceedings of the Third international conference on Motion in games
Planning and synthesizing superhero motions
MIG'10 Proceedings of the Third international conference on Motion in games
Generalizing behavior obtained from sparse demonstration
Proceedings of the 6th international conference on Human-robot interaction
Human motion modeling and simulation
ROCOM'06 Proceedings of the 6th WSEAS international conference on Robotics, control and manufacturing technology
A hybrid interpolation scheme for footprint-driven walking synthesis
Proceedings of Graphics Interface 2011
Emulating human observers with bayesian binning: Segmentation of action streams
ACM Transactions on Applied Perception (TAP)
Semi-automatic end-user tools for construction of virtual avatar behaviors
Proceedings of the 16th International Conference on 3D Web Technology
Real-time classification of dance gestures from skeleton animation
SCA '11 Proceedings of the 2011 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Two Distributed-State Models For Generating High-Dimensional Time Series
The Journal of Machine Learning Research
A style controller for generating virtual human behaviors
The 10th International Conference on Autonomous Agents and Multiagent Systems - Volume 3
Data-Driven Synthesis of Spatially Inflected Verbs for American Sign Language Animation
ACM Transactions on Accessible Computing (TACCESS)
KI'11 Proceedings of the 34th Annual German conference on Advances in artificial intelligence
Layered interpolation for interactive avatar control
Proceedings of the 10th International Conference on Virtual Reality Continuum and Its Applications in Industry
Key action technique for digital storytelling
ICEC'05 Proceedings of the 4th international conference on Entertainment Computing
Viewpoint determination of image by interpolation over sparse samples
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
Stereo matching by interpolation
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
Human motion interpolation using space-time registration
ICAT'06 Proceedings of the 16th international conference on Advances in Artificial Reality and Tele-Existence
4D parametric motion graphs for interactive animation
I3D '12 Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Predicting missing markers in real-time optical motion capture
3DPH'09 Proceedings of the 2009 international conference on Modelling the Physiological Human
Parametric control of captured mesh sequences for real-time animation
MIG'11 Proceedings of the 4th international conference on Motion in Games
A quantitative methodology to evaluate motion-based animation techniques
MIG'11 Proceedings of the 4th international conference on Motion in Games
Continuous character control with low-dimensional embeddings
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Automating expressive locomotion generation
Transactions on Edutainment VII
Parametric animation of performance-captured mesh sequences
Computer Animation and Virtual Worlds
Proceedings of the ACM Symposium on Applied Perception
Motion graphs++: a compact generative model for semantic motion analysis and synthesis
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Synthesis of concurrent object manipulation tasks
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Data-driven finger motion synthesis for gesturing characters
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Pen-to-mime: a pen-based interface for interactive control of a human figure
SBM'04 Proceedings of the First Eurographics conference on Sketch-Based Interfaces and Modeling
Immersive interfaces for building parameterized motion databases
IVA'12 Proceedings of the 12th international conference on Intelligent Virtual Agents
Component-based locomotion composition
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Component-based locomotion composition
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Proceedings of the ACM Symposium on Applied Perception
Generating Responsive Life-Like Biped Characters
Proceedings of the The third workshop on Procedural Content Generation in Games
Reconstructing whole-body motions with wrist trajectories
Graphical Models
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This article describes methods and data structures used to leverage motion sequences of complex linked figures. We present a technique for interpolating between example motions derived from live motion capture or produced through traditional animation tools. These motions can be characterized by emotional expressiveness or control behaviors such as turning or going uphill. We call such parameterized motions "verbs" and the parameters that control them "adverbs." Verbs can be combined with other verbs to form a "verb graph," with smooth transitions between them, allowing an animated figure to exhibit a substantial repertoire of expressive behaviors.A combination of radial basis functions and low-order polynomials creates the interpolation space between example motions. Inverse kinematic constraints augment the interpolations in order to avoid, for example, the feet slipping on the floor during a support phase of a walk cycle.