A smaller number of researchers present approaches which combine physics and motion capture with goals similar to our own (i.e. tocreateresponsivecharacters). Oshita and Makinouchi[2001]use inverse dynamics computed from data and add external inputs by modifying character velocity directly. Zordan and Hodgins [2002] suggest tracking motion capture data with controlled forward dynamics for characters, allowing the passive dynamics to take over during impacts. Komura et al. [2004] animate reactions for locomoting bipeds by modifying motion tomaintain balance in response to external influences. In each of these works, the results reported focus on balanced motion and show limited types of interactions. Conversely, we propose a more flexible approach, showing results with heavy and light contact leading to responses including stepping, jumping, falling, and rolling. ].