为了有效地利用运动捕获数据来驱动虚拟人物，研究了动作过渡中的约束求解问题，该运动学约束求解可由解析的IK算法快速完成，但对每帧附加约束，以保证解的连续性，同时，为了使生成的动作更加真实，提出了一种在动作过渡的关键点求取平衡姿势的方法，并通过构造偏移映射，将其叠加到已生成的动作过渡序列图象上，从而较好地模拟了动态平衡过程。

Reusing Motion Capture data to instruct Virtual Human is an effective way to improve the reality of Human Animation. However, there are gaps between captured motion clips, and motion transition.is used to fill them. This paper presents novel method to meet the kinematic and dynamic constraints that should be satisfied during transition. An analytical IK algorithm is adopted to solve the position constraints and an additional constraint, "Swivel angle" constraint, is added to guarantee the continuity of solution. Since the algorithm only need to search the feasible rangle of "Swivel angle", it improves the precision of the solution and the computation efficiency. This paper also presents a simplified way to simulate balancing during transiton.To meet the balancing requirement during the motion transition, balance pose is computed at "key points" of transition with a BFGS nonlinear constraint optimizing algorithm, displacement mapping is then built and added to original transition motion sequence.